Method for estimating a direction of gravity with respect to a robot
AssigneesShanghai Flexiv Robotics Technology Co., Ltd., Flexiv Ltd.
InventorsShuyun Chung, Xingchi He, Kenneth Chao
Life of this patent
Estimating the term…
Abstract
A method, system, and non-transitory, computer-readable medium are provided for estimating a direction of gravity with respect to a robot. The method includes rotating a first joint. A first torque information of the first joint is recorded during rotation of the first joint. A second joint is then rotated. A second torque information of the second joint is recorded during rotation of the second joint. The direction of gravity is then estimated with respect to the robot based on the first torque information and the second torque information. The method provides an efficient way for determining the direction of gravity with respect to the robot.
Claims20
A method for estimating a direction of gravity with respect to a robot, the robot comprising a plurality of joints and a plurality of links successively connected by the plurality of joints, the plurality of joints comprising a first joint and a second joint, the first joint being closer to a proximal end of the robot than the second joint, wherein the method comprises:
- rotating the first joint;
- recording a first torque information of the first joint due to rotation of the first joint;
- rotating the second joint;
- recording a second torque information of the second joint due to rotation of the second joint;
- and
- estimating the direction of gravity with respect to the robot based on the first torque information and the second torque information.
A robotic system comprising:
- a plurality of joints successively connecting a plurality of links, the plurality of joints including a first joint and a second joint, the first joint being closer to a proximal end of the robotic system than the second joint;
- a processor;
- and
- a memory storing instructions which, when executed by the processor, cause the processor to:
- rotate the first joint;
- record a first torque information of the first joint due to rotation of the first joint;
- rotate the second joint;
- record a second torque information of the second joint due to rotation of the second joint;
- and
- estimate a direction of gravity with respect to the robotic system based on the first torque information and the second torque information.
A non-transitory, computer-readable medium storing instructions which, when executed by a processor, cause the processor to:
- rotate a first joint of a robotic system, the robotic system including a plurality of joints and a plurality of links successively connected by the plurality of joints, wherein the plurality of joints include a first joint and a second joint, and wherein the first joint is closer to a proximal end of the robotic system than the second joint;
- record a first torque information of the first joint due to rotation of the first joint;
- rotate the second joint;
- record a second torque information of the second joint due to rotation of the second joint;
- and
- estimate a direction of gravity with respect to the robotic system based on the first torque information and the second torque information.
Dependencies are inferred from the claim text.