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.
Claims22
A method of providing a control solution for an actuator of a system, comprising:
- receiving, with a controller of the system, a first model of the actuator;
- receiving a second model of an arm;
- receiving a third model of a mobile platform;
- and
- generating, based on the first model, the second model, and the third model, the control solution;
- wherein:
- the arm is connected to the platform and to the actuator;
- the platform is subjected to at least one unpredictable force;
- and
- the generating of the control solution uses operational space control.
A system for providing a control solution, comprising:
- an actuator;
- an arm;
- a mobile platform;
- and
- one or more processors with a memory having instructions thereon configured to:
- receive a first model of the actuator, a second model of the arm, and a third model of the platform;
- and
- generate, based on the first model, the second model, and the third model, the control solution for the platform, the arm, and the actuator using operational space control;
- wherein:
- the arm is connected to the platform and to the actuator;
- the platform is subjected to at least one unpredictable force;
- and
- the one or more processors generate the control solution using operational space control.
Dependencies are inferred from the claim text.