Controlling robot torque and velocity based on context
AssigneeThe Charles Stark Draper Laboratory, Inc.
InventorsDavid M. S. Johnson, Syler Wagner, Steven Lines
Life of this patent
Estimating the term…
Abstract
In an embodiment, a method includes identifying a force and torque for a robot to accomplish a task and identifying context of a portion of a movement plan indicating motion of the robot to perform the task. Based on the identified force, torque, and context, a context specific torque is determined for at least one aspect of the robot while the robot executes the portion of the movement plan. In turn, a control signal is generated for the at least one aspect of the robot to operate in accordance with the determined context specific torque.
Claims19
A method comprising:
- identifying a respective minimum force and a respective minimum torque for a robot to execute each portion of a plurality of portions of a movement plan indicating motion of the robot to perform a task in an environment;
- receiving real-time data from one or more sensors in the environment;
- identifying a respective context of each portion of the plurality of portions of the movement plan using the received real-time data;
- based on the identified respective minimum force, respective minimum torque, and the respective context, determining a respective context specific torque for each of the plurality of portions, for at least one aspect of the robot, while the robot executes each portion of the movement plan;
- and
- modifying the motion plan to control at least one aspect of the robot to operate in accordance with each respective determined context specific torque.
A system comprising:
- a processor;
- and
- a memory with computer code instructions stored thereon, the processor and the memory, with the computer code instructions, being configured to cause the system to:
- identify a respective minimum force and a respective minimum torque for a robot to execute each portion of a plurality of portions of a movement plan indicating motion of the robot to perform a task in an environment;
- receive real-time data from one or more sensors in the environment;
- identify a respective context of each portion of the plurality of portions of the movement plan using the received real-time data;
- based on the identified respective minimum force, respective minimum torque, and the respective context, determine a respective context specific torque for each of the plurality of portions, for at least one aspect of the robot, while the robot executes each portion of the movement plan;
- and
- modify the motion plan to control at least one aspect of the robot to operate in accordance with each respective determined context specific torque.
A non-transitory computer program product comprising a computer-readable medium with computer code instructions stored thereon, the computer code instructions being configured, when executed by a processor, to cause an apparatus associated with the processor to:
- identify a respective minimum force and a respective minimum torque for a robot to execute each portion of a plurality of portions of a movement plan indicating motion of the robot to perform a task in an environment;
- receive real-time data from one or more sensors in the environment;
- identify a respective context of each portion of the plurality of portions of the movement plan using the received real-time data;
- based on the identified respective minimum force, respective minimum torque, and the respective context, determine a respective context specific torque for each of the plurality of portions, for at least one aspect of the robot, while the robot executes each portion of the movement plan;
- and
- modify the motion plan to control the at least one aspect of the robot to operate in accordance with each respective determined context specific torque.
Dependencies are inferred from the claim text.