CONTROL SYSTEM FOR A GRASPING DEVICE
First Claim
1. A method for operating a grasping device using a plurality of parallel, bi-directional state flow maps each defining a sequence of poses for a plurality of joints in the grasping device, the method comprising:
- receiving at least one control signal;
determining a current pose of the grasping device within the one of the plurality of state flow maps currently selected for the grasping device; and
selectively actuating the plurality of joints to traverse the sequence of poses, wherein a direction for traversing the sequence of poses is based on the at least one control signal.
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Abstract
A method for operating a grasping device and grasping devices therefrom are provided. The grasping device is configured to use a plurality of parallel, bi-directional state flow maps each defining a sequence of poses for a plurality of joints in the grasping device. The method include receiving at least one control signal, determining a current pose of the grasping device within the one of the plurality of state flow maps currently selected for the grasping device, and selectively actuating the plurality of joints to traverse the sequence of poses, where a direction for traversing the sequence of poses is based on the at least one control signal.
38 Citations
26 Claims
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1. A method for operating a grasping device using a plurality of parallel, bi-directional state flow maps each defining a sequence of poses for a plurality of joints in the grasping device, the method comprising:
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receiving at least one control signal; determining a current pose of the grasping device within the one of the plurality of state flow maps currently selected for the grasping device; and selectively actuating the plurality of joints to traverse the sequence of poses, wherein a direction for traversing the sequence of poses is based on the at least one control signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 13, 14, 15)
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11-12. -12. (canceled)
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16-19. -19. (canceled)
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20. A grasping device, comprising:
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a plurality of joints; a memory for storing a plurality of parallel, bi-directional state flow maps that each defining a sequence of poses for the plurality of joints; and a processor communicatively coupled to the memory and the plurality of joints, wherein the processor is configured for; receiving at least one control signal; determining a current pose of the grasping device within the one of the plurality of state flow maps currently selected for the grasping device; and selectively actuating the plurality of joints to traverse the sequence of poses, wherein a direction for traversing the sequence of poses is based on the at least one control signal. - View Dependent Claims (21, 22, 23, 24, 25, 26)
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Specification