Robotic device
AssigneeDyson Technology Limited
InventorEdoardo FARNIOLI
Life of this patent
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Abstract
Certain examples described herein provide a method of controlling a robotic device including a body, an end effector coupled to the body by one or more joints and a propulsion system to drive the one or more joints to control a state of the robotic device. Example methods include applying impedance control to the robotic device; determining a reference trajectory of the end effector; detecting an applied external force and/or torque acting on the robotic device causing a departure from the reference trajectory; calculating an adjustment to be applied to one or more of the one or more joints to compensate for the detected applied external force and/or torque; and using the calculated adjustment to control the one or more joints to actuate the end effector and recover the reference trajectory of the end effector.
Claims17
A method of controlling a robotic device comprising a body, an end effector coupled to the body by one or more joints and a propulsion system to drive the one or more joints to control a state of the robotic device, the method comprising:
- applying impedance control to the robotic device;
- determining a reference trajectory of the end effector;
- detecting an applied external force and/or torque on the robotic device causing a departure from the reference trajectory;
- calculating an adjustment to be applied to one or more of the one or more joints to compensate for the detected applied external force and/or torque;
- and
- using the calculated adjustment to control the one or more joints to actuate the end effector and recover the reference trajectory of the end effector.
A robotic device comprising:
- a body;
- an end effector coupled to the body by one or more joints;
- a propulsion system to drive the one or more joints to control a state of the robotic device;
- and
- a controller configured to:
- apply impedance control to the robotic device;
- determine a reference trajectory of the end effector;
- detect an applied external force and/or torque on the robotic device causing a departure from the reference trajectory;
- calculate an adjustment to be applied to one or more of the one or more joints to compensate for the detected applied external force and/or torque;
- and
- using the calculated adjustment, to control the one or more joints to actuate the end effector and recover the reference trajectory of the end effector.
Dependencies are inferred from the claim text.