Loading patent…
AssigneeThe United States of America as represented by the Administrator of the National Aeronautics and Space Administration
InventorsPaul G. Backes, Mark K. Long
Estimating the term…
The invention is a method of operating a robot in successive sampling intervals to perform a task, the robot having joints and joint actuators with actuator control loops, by decomposing the task into behavior forces, accelerations, velocities and positions of plural behaviors to be exhibited by the robot simultaneously, computing actuator accelerations of the joint actuators for the current sampling interval from both behavior forces, accelerations velocities and positions of the current sampling interval and actuator velocities and positions of the previous sampling interval, computing actuator velocities and positions of the joint actuators for the current sampling interval from the actuator velocities and positions of the previous sampling interval, and, finally, controlling the actuators in accordance with the actuator accelerations, velocities and positions of the current sampling interval. The actuator accelerations, velocities and positions of the current sampling interval are stored for use during the next sampling interval.
A method of operating a robot to perform a task in an environment of objects, said robot having joints and joint actuators, said method comprising the steps of:
A method of operating a robot in successive sampling intervals to perform a task, said robot having joints and joint actuators with actuator control loops, said method comprising:
A robot control system for operating a robot in successive sampling intervals to perform a task in an environment of objects, said robot having plural joints and joint actuators, said system comprising:
Dependencies are inferred from the claim text.