Method and apparatus for automatic control of a humanoid robot
First Claim
1. A robotic system comprising:
- a humanoid robot having a plurality of robotic joints and end-effectors adapted for imparting a force to an object;
a graphical user interface (GUI) adapted for receiving an input signal from a user describing at least a reference external force in the form of a desired input force to be imparted to the object, wherein the GUI includes a Cartesian space of inputs, a joint space of inputs, and a selectable qualitative impedance level; and
a controller that is electrically connected to the GUI, wherein the GUI provides the user with programming access to the controller and allows the user to switch between position control and force control of the humanoid robot solely by selecting the reference external force, and between impedance control on the object, end-effector, and joint level solely by selecting a desired combination of the end-effectors.
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Accused Products
Abstract
A robotic system includes a humanoid robot having a plurality of joints adapted for force control with respect to an object acted upon by the robot, a graphical user interface (GUI) for receiving an input signal from a user, and a controller. The GUI provides the user with intuitive programming access to the controller. The controller controls the joints using an impedance-based control framework, which provides object level, end-effector level, and/or joint space-level control of the robot in response to the input signal. A method for controlling the robotic system includes receiving the input signal via the GUI, e.g., a desired force, and then processing the input signal using a host machine to control the joints via an impedance-based control framework. The framework provides object level, end-effector level, and/or joint space-level control of the robot, and allows for functional-based GUI to simplify implementation of a myriad of operating modes.
53 Citations
16 Claims
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1. A robotic system comprising:
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a humanoid robot having a plurality of robotic joints and end-effectors adapted for imparting a force to an object; a graphical user interface (GUI) adapted for receiving an input signal from a user describing at least a reference external force in the form of a desired input force to be imparted to the object, wherein the GUI includes a Cartesian space of inputs, a joint space of inputs, and a selectable qualitative impedance level; and a controller that is electrically connected to the GUI, wherein the GUI provides the user with programming access to the controller and allows the user to switch between position control and force control of the humanoid robot solely by selecting the reference external force, and between impedance control on the object, end-effector, and joint level solely by selecting a desired combination of the end-effectors. - View Dependent Claims (2, 3, 4, 5)
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6. A controller for a robotic system, wherein the system includes a humanoid robot having a plurality of robotic joints adapted for force control with respect to an object being acted upon by the humanoid robot, and a graphical user interface (GUI) electrically connected to the controller that is adapted for receiving an input signal from a user, the controller comprising:
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a host machine having memory; and an algorithm executable from the memory by the host machine to thereby control the plurality of joints using an impedance-based control framework, wherein the impedance-based control framework includes a function of commanded inertia, damping, and stiffness matrices; wherein execution of the algorithm by the host machine provides at least one of an object level, end-effector level, and joint space-level of control of the humanoid robot in response to the input signal into the GUI, the input signal including at least a desired input force to be imparted to the object; and wherein the host machine is configured to switch between impedance control on the object, the end-effector, and the joint level when a user selects, via the input signal to the GUI, a desired combination of the end-effectors. - View Dependent Claims (7, 8, 9, 10, 11, 12)
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13. A method for controlling a robotic system including a humanoid robot having a plurality of joints and end-effectors adapted for imparting a force to an object, a controller, and a graphical user interface (GUI) electrically connected to the controller, wherein the controller is adapted for receiving an input signal from the GUI, the method comprising:
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receiving the input signal via the GUI; processing the input signal using the controller to thereby control the plurality of joints and end-effectors, wherein processing the input signal includes using an impedance-based control framework to provide object level, end-effector level, and joint space-level control of the humanoid robot; and automatically switching between a position control mode and a force control mode via the controller when the user provides a desired input force as the input signal via the GUI, and between impedance control at one of the object, end-effector, and joint levels when the user selects a desired combination of end-effectors of the humanoid robot as the input signal via the GUI. - View Dependent Claims (14, 15, 16)
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Specification