Method for controlling a robot, and system
AssigneeDeutsches Zentrum für Luft- und Raumfahrt e.V.
InventorsNeal Lii, Aaron Pereira, Benedikt Pleintinger, Annika Schmidt
Life of this patent
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Abstract
A method for controlling a robot, in which a force and/or movement of a user is transferred to at least one actuated segment of the robot and is detected by the robot in order to control a solid in a fluid, wherein the force and/or movement of the user is transferred to the solid, wherein the actuated segment generates a movement and/or force in dependence of the solid as haptic feed-back, and wherein, in order to determine the force generated by the actuated segment, a fluid force vector is determined which includes the influence of the fluid on the solid, and a solid force vector is determined which includes the influence of the solid.
Claims16
A method for controlling a robot, the method comprising:
- detecting at least one of a force or a movement of one or more limbs of a user by at least one actuated segment of the robot to control at least one of a real or virtual solid in a fluid, at least one of the force or the movement of the user being transferred to the solid;
- determining movement parameters from the detected force or movement of the user limb, wherein the movement parameters comprise at least one of position, velocity, and orientation of the limb;
- determining a characteristic length of the user limb using the movement parameters;
- using an application parameter, determining a total fluid force, wherein the application parameter includes only a viscosity of the fluid;
- using the total fluid force, the movement parameters, and the characteristic length, determining a direction of action of the total fluid force on each of the one or more limbs;
- using the total fluid force, determining a proportionate force distribution to each of the one or more limbs;
- using the direction of action of the total fluid force on each of the one or more limbs, the proportionate force distribution to each of the one or more limbs, and an influence of the fluid on the solid, determining a fluid force vector transferred to each of the one or more limbs;
- using an influence of the solid, determining a solid force vector;
- combining the solid force vector and the fluid force vector as a haptic feedback force;
- and
- transferring the haptic feedback force to the one or more limbs via the at least one actuated segment of the robot;
- wherein the actuated segment generates at least one of a movement or force in dependence on the solid.
Dependencies are inferred from the claim text.