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AssigneesGM Global Technology Operations LLC, The United States of America as represented by the Administrator of the National Aeronautics and Space Administration
InventorsLeandro G. Barajas, Adam M Sanders, Matthew J Reiland, Philip A Strawser
Estimating the term…
A robotic system includes a humanoid robot with multiple compliant joints, each moveable using one or more of the actuators, and having sensors for measuring control and feedback data. A distributed controller controls the joints and other integrated system components over multiple high-speed communication networks. Diagnostic, prognostic, and health management (DPHM) modules are embedded within the robot at the various control levels. Each DPHM module measures, controls, and records DPHM data for the respective control level/connected device in a location that is accessible over the networks or via an external device. A method of controlling the robot includes embedding a plurality of the DPHM modules within multiple control levels of the distributed controller, using the DPHM modules to measure DPHM data within each of the control levels, and recording the DPHM data in a location that is accessible over at least one of the high-speed communication networks.
A robotic system comprising:
A controller for use with a humanoid robot having a plurality of integrated system components including a plurality of compliant robotic joints, actuators, and sensors configured to measure control and feedback data at a corresponding one of the integrated system components, the controller comprising:
A method of controlling a robot within a robotic system having a plurality of integrated system components, including a plurality of compliant robotic joints, actuators, and sensors that measure feedback data at a corresponding one of the robotic joints, the method comprising:
Dependencies are inferred from the claim text.