ITTO20130828A1 - Sistema di controllo del movimento di tutto il corpo basato su attrattori per un robot articolato - Google Patents

Sistema di controllo del movimento di tutto il corpo basato su attrattori per un robot articolato

Info

Publication number
ITTO20130828A1
ITTO20130828A1 IT000828A ITTO20130828A ITTO20130828A1 IT TO20130828 A1 ITTO20130828 A1 IT TO20130828A1 IT 000828 A IT000828 A IT 000828A IT TO20130828 A ITTO20130828 A IT TO20130828A IT TO20130828 A1 ITTO20130828 A1 IT TO20130828A1
Authority
IT
Italy
Prior art keywords
attractors
movement
control system
articulated robot
body based
Prior art date
Application number
IT000828A
Other languages
English (en)
Inventor
Darwin Caldwell
Federico Lorenzo Moro
Nikolaos Tsagarakis
Original Assignee
Fond Istituto Italiano Di Tecnologia
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fond Istituto Italiano Di Tecnologia filed Critical Fond Istituto Italiano Di Tecnologia
Priority to IT000828A priority Critical patent/ITTO20130828A1/it
Priority to PCT/IB2014/065308 priority patent/WO2015056178A1/en
Publication of ITTO20130828A1 publication Critical patent/ITTO20130828A1/it

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
IT000828A 2013-10-14 2013-10-14 Sistema di controllo del movimento di tutto il corpo basato su attrattori per un robot articolato ITTO20130828A1 (it)

Priority Applications (2)

Application Number Priority Date Filing Date Title
IT000828A ITTO20130828A1 (it) 2013-10-14 2013-10-14 Sistema di controllo del movimento di tutto il corpo basato su attrattori per un robot articolato
PCT/IB2014/065308 WO2015056178A1 (en) 2013-10-14 2014-10-14 Attractor-based whole-body motion control (wbmc) system for an articulated robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT000828A ITTO20130828A1 (it) 2013-10-14 2013-10-14 Sistema di controllo del movimento di tutto il corpo basato su attrattori per un robot articolato

Publications (1)

Publication Number Publication Date
ITTO20130828A1 true ITTO20130828A1 (it) 2015-04-15

Family

ID=49920509

Family Applications (1)

Application Number Title Priority Date Filing Date
IT000828A ITTO20130828A1 (it) 2013-10-14 2013-10-14 Sistema di controllo del movimento di tutto il corpo basato su attrattori per un robot articolato

Country Status (2)

Country Link
IT (1) ITTO20130828A1 (it)
WO (1) WO2015056178A1 (it)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9751211B1 (en) 2015-10-08 2017-09-05 Google Inc. Smart robot part
US9987745B1 (en) 2016-04-01 2018-06-05 Boston Dynamics, Inc. Execution of robotic tasks
US10351189B2 (en) 2016-12-13 2019-07-16 Boston Dynamics, Inc. Whole body manipulation on a legged robot using dynamic balance
CN107028663B (zh) * 2017-04-18 2019-04-12 中国科学院重庆绿色智能技术研究院 一种主从式手术机器人控制方法
CN114818354B (zh) * 2022-05-09 2024-02-13 合肥工业大学 一种机器人柔性关节摩擦力解析与建模方法

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
DIETRICH A ET AL: "Dynamic whole-body mobile manipulation with a torque controlled humanoid robot via impedance control laws", INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON, IEEE, 25 September 2011 (2011-09-25), pages 3199 - 3206, XP032200642, ISBN: 978-1-61284-454-1, DOI: 10.1109/IROS.2011.6094445 *
JOSEPH SALINI ET AL: "Synthesis of complex humanoid whole-body behavior: A focus on sequencing and tasks transitions", ROBOTICS AND AUTOMATION (ICRA), 2011 IEEE INTERNATIONAL CONFERENCE ON, IEEE, 9 May 2011 (2011-05-09), pages 1283 - 1290, XP032034023, ISBN: 978-1-61284-386-5, DOI: 10.1109/ICRA.2011.5980202 *
KHATIB O ET AL: "Robotics-based synthesis of human motion", JOURNAL OF PHYSIOLOGY-PARIS, ELSEVIER, AMSTERDAM, NL, vol. 103, no. 3-5, 1 May 2009 (2009-05-01), pages 211 - 219, XP026794859, ISSN: 0928-4257, [retrieved on 20090807] *
LUIS SENTIS: "SYNTHESIS AND CONTROL OF WHOLE-BODY BEHAVIORS IN HUMANOID SYSTEMS", PHD THESIS, 1 July 2007 (2007-07-01), XP055125767, Retrieved from the Internet <URL:http://media.proquest.com/media/pq/classic/doc/1414126031/fmt/ai/rep/SPDF?hl=syntheses,synthesis,syntheses,synthesis,controls,control,controls,control,of,of,whole,bodies,body,whole,bodies,body,behaviour,behaviours,behavior,behaviors,behaviour,behaviours,behavior,behaviors,in,in,humanoids,humanoid,hu> [retrieved on 20140627] *

Also Published As

Publication number Publication date
WO2015056178A1 (en) 2015-04-23
WO2015056178A8 (en) 2015-11-12

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