Systems and methods for providing a control solution for an actuator
AssigneeThe Board of Trustees of the Leland Stanford Junior University
InventorOussama Khatib
Life of this patent
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Abstract
Systems and methods of the present disclosure provide a control solution for a robotic actuator. The actuator can have one or two degrees of freedom of control, and can connect with a platform using an arm. The arm can have at least two degrees of freedom of control, and the platform can have at least two degrees of freedom of control. The platform can be subjected to unpredictable forces requiring a control response. The control solution can be generated using operational space control, using the degrees of freedom of the arm, platform, and actuator.
Claims12
A method of providing a control solution for an actuator comprising:
- receiving, at a first rate, a desired control force for the actuator from a haptic device;
- generating, at a second rate, based on the desired control force, the control solution;
- applying the control solution to the actuator;
- receiving, at a third rate, a feedback force based on at least one of a force measurement and a position measurement from the actuator;
- and
- applying, at the first rate, the feedback force to the haptic device;
- wherein the generating of the control solution uses operational space control,
- wherein the first rate is less than the second rate and the second rate is less than the third rate.
A method of providing a control solution for an actuator comprising:
- receiving, at a first rate, a desired control result from a haptic device;
- generating, at a second rate, based on the desired control result and at least one multi-resolution model, an elastic plan;
- generating, at a third rate, based on the elastic plan and at least one sensor result, the control solution;
- applying the control solution to the actuator;
- receiving, at the third rate, the at least one sensor result from a sensor, based on at least one of a force measurement and a position measurement of the actuator;
- updating, at the second rate, the at least one multi-resolution model, based on the at least one sensor result;
- generating, at the first rate, at least one perception result, based on the at least one multi-resolution model;
- and
- applying, at the first rate, a force feedback to the haptic device, based on the at least one perception result;
- wherein:
- the first rate is less than the second rate;
- and
- the second rate is less than the third rate.
A system for providing a control solution, comprising:
- a haptic device;
- an actuator;
- and
- one or more processors with memory configured to:
- receive, at a first rate, a desired control force for the actuator from the haptic device;
- generate, at a second rate, based on the desired control force, the control solution for the actuator;
- apply the control solution to the actuator;
- receiving, at a third rate, a feedback force based on at least one of a force measurement and a position measurement from the actuator;
- and
- apply, at the first rate, the feedback force to the haptic device;
- wherein the one or more processors generate the control solution using operational space control,
- wherein the first rate is less than the second rate and the second rate is less than the third rate.
A system for providing a control solution, comprising:
- a haptic device;
- an actuator;
- and
- one or more processors with memory configured to:
- receive, at a first rate, a desired control result from the haptic device;
- generate, at a second rate, based on the desired control result and at least one multi-resolution model, an elastic plan;
- generate, at a third rate, based on the elastic plan and at least one sensor result, the control solution;
- apply the control solution to the actuator;
- receive, at the third rate, the at least one sensor result from a sensor, based on at least one of a force measurement and a position measurement of the actuator;
- update, at the second rate, the at least one multi-resolution model, based on the at least one sensor result;
- generate, at the first rate, at least one perception result, based on the at least one multi-resolution model;
- and
- apply, at the first rate, a force feedback to the haptic device, based on the at least one perception result;
- wherein:
- the first rate is less than the second rate;
- and
- the second rate is less than the third rate.
Dependencies are inferred from the claim text.