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1. WO2020197800 - MULTI-BODY CONTROLLER AND ROBOT

Publication Number WO/2020/197800
Publication Date 01.10.2020
International Application No. PCT/US2020/022554
International Filing Date 13.03.2020
IPC
B25J 5/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
B25J 15/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads
B25J 19/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
CPC
B25J 15/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads ; and other end effectors
B25J 15/0616
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads ; and other end effectors
06with vacuum or magnetic holding means
0616with vacuum
B25J 19/002
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
0008Balancing devices
002using counterweights
B25J 5/007
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
007mounted on wheels
B25J 9/162
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1615characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
162Mobile manipulator, movable base with manipulator arm mounted on it
B25J 9/1633
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1628characterised by the control loop
1633compliant, force, torque control, e.g. combined with position control
Applicants
  • BOSTON DYNAMICS, INC. [US]/[US]
Inventors
  • TALEBI, Shervin
  • PERKINS, Alexander, Douglas
  • BLANKESPOOR, Kevin
Agents
  • KRUEGER, Brett, A.
Priority Data
16/363,32625.03.2019US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) MULTI-BODY CONTROLLER AND ROBOT
(FR) DISPOSITIF DE COMMANDE MULTI-CORPS ET ROBOT
Abstract
(EN)
A method for a multi -body controller receives steering commands (212) for a robot (100) to perform a given task. The robot includes a body (110), a plurality of joints (J), an arm (150) coupled to the body (110) and a drive wheel (130) rotatably coupled to the body (110) or at least one leg (120). With the steering commands, the method generates a wheel torque (tw) and a wheel axle force (FA) to perform the task. The method includes receiving movement constraints (240) for the robot and manipulation inputs (230) configured to manipulate the arm to perform the task. For each joint, the method generates a corresponding joint torque (tj) having an angular momentum where the joint torque satisfies the movement constraints based on the manipulation inputs, the wheel torque, and the wheel axle force. The method further includes controlling the robot to perform the task using the joint torques.
(FR)
La présente invention concerne un procédé pour un dispositif de commande multi-corps recevant des commandes de direction (212) pour un robot (100) pour effectuer une tâche donnée. Le robot comprend un corps (110), une pluralité d'articulations (J), un bras (150) accouplé au corps (110) et une roue d'entraînement (130) accouplée rotative au corps (110) ou à au moins une patte (120). Avec les instructions de direction, le procédé génère un couple de roue (tw) et une force d'essieu de roue (FA) pour effectuer la tâche. Le procédé comprend une étape consistant à recevoir des contraintes de mouvement (240) pour le robot et des entrées de manipulation (230) conçues pour manipuler le bras afin d'effectuer la tâche. Pour chaque articulation, le procédé génère un couple d'articulation (tj) correspondant ayant un moment cinétique où le couple d'articulation satisfait les contraintes de mouvement sur la base des entrées de manipulation, du couple de roue et de la force d'essieu de roue. Le procédé comprend en outre une étape consistant à commander au robot d'effectuer la tâche à l'aide des couples d'articulation.
Also published as
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