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Method and apparatus for automatic control of a humanoid robot

  • US 8,364,314 B2
  • Filed: 11/24/2009
  • Issued: 01/29/2013
  • Est. Priority Date: 04/30/2009
  • Status: Active Grant
First Claim
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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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