ROBOT AND METHOD OF CONTROLLING THEREOF
First Claim
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1. A robot having at least one member, said at least one member having at least one controllably actuable articulation, said articulation having at least one torque sensor for providing a torque signal indicative of a torque applied to the articulation, and one angle sensor for providing an angle signal indicative of an angle of actuation of the articulation;
- the robot further comprising;
a controller for controlling said at least one controllably actuable articulation;
a first neural network arranged for receiving the torque and angle signals and arranged for providing to the controller a force signal indicating that an external force is applied to said at least one member;
a second neural network arranged for receiving the torque and angle signals and arranged for providing to the controller a direction signal indicating the direction along which said external force is applied to said at least one member.
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Abstract
A robot having at least one member having at least one controllably actuable articulation, said articulation having at least one torque sensor for providing a torque signal indicative of a torque applied to the articulation, and one angle sensor for providing an angle signal indicative of an angle of actuation of the articulation; the robot further comprising:
- a controller for controlling said at least one controllably actuable articulation;
- a first neural network arranged for receiving the torque and angle signals and arranged for providing to the controller a force signal indicating that an external force is applied to said at least one member:
- a second neural network arranged for receiving the torque and angle signals and arranged for providing to the controller a direction signal indicating the direction along which said external force is applied to said at least one member.
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Citations
27 Claims
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1. A robot having at least one member, said at least one member having at least one controllably actuable articulation, said articulation having at least one torque sensor for providing a torque signal indicative of a torque applied to the articulation, and one angle sensor for providing an angle signal indicative of an angle of actuation of the articulation;
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the robot further comprising; a controller for controlling said at least one controllably actuable articulation; a first neural network arranged for receiving the torque and angle signals and arranged for providing to the controller a force signal indicating that an external force is applied to said at least one member; a second neural network arranged for receiving the torque and angle signals and arranged for providing to the controller a direction signal indicating the direction along which said external force is applied to said at least one member. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 27)
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15. A method of controlling a robot having at least one member, said at least one member having at least one controllably actuable articulation;
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the method comprising; periodically generating a torque signal indicative of a torque applied to the articulation, and an angle signal indicative of an angle of actuation of the articulation; with a first neural network receiving the torque and angle signals, generating a force signal indicating that an external force is applied to said at least one member; with a second neural network receiving the torque and angle signals, generating a direction signal indicating the direction along which said external force is applied to said at least one member; and modifying a control of said at least one controllably actuable articulation with said force and direction signals. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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Specification