Apparatus and Method for Generating and Controlling the Motion of a Robot
First Claim
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1. A computer based method of controlling at least one of a system or robot including at least one effector, comprising:
- (a) computing an initial sequence of control points;
(b) evaluating the at least one of the system or the robot by computing a global cost function that uses internal simulation based on the control points;
(c) updating the initial sequence to form a current sequence of the control points based on the evaluation;
(d) repeating steps (b) and (c) until a termination criterion is met; and
(e) outputting the current sequence of the control points after the termination criterion is met.
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Abstract
A method for controlling a system or robot having at least one effector. An initial sequence of control points is computed. The system or the robot is evaluated by a global cost function that uses internal simulation based on the control points. The sequence of control points are updated based on the evaluation. The evaluation of the system or the robot and the updating of the sequence of control points are repeated until a given termination criterion is met.
33 Citations
15 Claims
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1. A computer based method of controlling at least one of a system or robot including at least one effector, comprising:
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(a) computing an initial sequence of control points; (b) evaluating the at least one of the system or the robot by computing a global cost function that uses internal simulation based on the control points; (c) updating the initial sequence to form a current sequence of the control points based on the evaluation; (d) repeating steps (b) and (c) until a termination criterion is met; and (e) outputting the current sequence of the control points after the termination criterion is met. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A computer readable storage medium structured to store instructions executable by a processing system, the instructions when executed cause the processing system to:
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(a) compute an initial sequence of control points; (b) evaluate at least one of a system or a robot by computing a global cost function that uses internal simulation based on the control points; (c) update the initial sequence to form a current sequence of the control points based on the evaluation; (d) repeat (b) and (c) until a termination criterion is met; and (e) output the current sequence of control points after the termination criterion is met.
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15. A system, comprising:
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(a) means for computing an initial sequence of control points; (b) means for evaluating the system by a global cost function that uses internal simulation based on the control points; (c) means for updating the initial sequence to form a current sequence of control points based on the evaluation; (d) means for repeating (b) and (c) until a termination criterion is met; and (e) means for outputting the current sequence of the control points after the termination criterion is met.
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Specification