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US 2018/0236659 A1Published application
Compositional impedance programming for robots
AssigneeMassachusetts Institute of Technology
InventorsNeville Hogan, Lucille Hosford
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Abstract
Described herein are concepts, techniques, and structures for robot control using compositional impedance programming. In one embodiment, a robot control system comprises a plurality of impedance modules, each of the impedance modules defining one or more mechanical impedance parameters and an impedance controller.
Claims15
A robot control system comprising:
- a plurality of impedance modules, each of the impedance modules defining one or more mechanical impedance parameters;
- and
- an impedance controller configured to:
- generate a composite robot control law based on the impedance modules;
- receive an actual robot configuration and an actual robot configuration-space velocity;
- generate an actuator torque using the composite robot control law, an actual configuration of a robot and an actual configuration-space velocity of the robot;
- and
- control actuators of the robot according the actuator torque.
5 more elements
A method for controlling a robot, the method comprising:
- selecting impedance parameters for each of a plurality of impedance modules, wherein each of the plurality of impedance modules specifies a robot behavior associated with a task, wherein each of the impedance modules and its selected impedance parameters define an impedance control law;
- transforming one or more of the impedance module control laws into configuration space;
- generating a composite control law using the impedance module controls laws in configuration-space;
- and
- controlling the robot using the composite control law.
2 more elements
Dependencies are inferred from the claim text.