IT201900021513A1 - Method and electronic device to control the movement of a humanoid robot or a robotic arm using the lowest number of degrees of freedom necessary to perform a task and related storage medium readable by an electronic computer - Google Patents

Method and electronic device to control the movement of a humanoid robot or a robotic arm using the lowest number of degrees of freedom necessary to perform a task and related storage medium readable by an electronic computer

Info

Publication number
IT201900021513A1
IT201900021513A1 IT102019000021513A IT201900021513A IT201900021513A1 IT 201900021513 A1 IT201900021513 A1 IT 201900021513A1 IT 102019000021513 A IT102019000021513 A IT 102019000021513A IT 201900021513 A IT201900021513 A IT 201900021513A IT 201900021513 A1 IT201900021513 A1 IT 201900021513A1
Authority
IT
Italy
Prior art keywords
task
degrees
perform
movement
storage medium
Prior art date
Application number
IT102019000021513A
Other languages
Italian (it)
Inventor
Hoffman Enrico Mingo
Polverini Matteo Parigi
Arturo Laurenzi
Nikolaos Tsagarakis
Original Assignee
Fondazione St Italiano Tecnologia
Univ Degli Studi Genova
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 Fondazione St Italiano Tecnologia, Univ Degli Studi Genova filed Critical Fondazione St Italiano Tecnologia
Priority to IT102019000021513A priority Critical patent/IT201900021513A1/en
Priority to PCT/IB2020/060846 priority patent/WO2021099948A1/en
Publication of IT201900021513A1 publication Critical patent/IT201900021513A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1643—Programme controls characterised by the control loop redundant control
    • 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
    • G05B2219/39077—Solve inverse geometric model by iteration, no matrixes inversion
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40336—Optimize multiple constraints or subtasks

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
IT102019000021513A 2019-11-19 2019-11-19 Method and electronic device to control the movement of a humanoid robot or a robotic arm using the lowest number of degrees of freedom necessary to perform a task and related storage medium readable by an electronic computer IT201900021513A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
IT102019000021513A IT201900021513A1 (en) 2019-11-19 2019-11-19 Method and electronic device to control the movement of a humanoid robot or a robotic arm using the lowest number of degrees of freedom necessary to perform a task and related storage medium readable by an electronic computer
PCT/IB2020/060846 WO2021099948A1 (en) 2019-11-19 2020-11-18 Method and electronic device for controlling the movement of a humanoid robot or of a robotic arm using the least number of degrees of freedom necessary for the execution of a task and computer-readable storage medium thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102019000021513A IT201900021513A1 (en) 2019-11-19 2019-11-19 Method and electronic device to control the movement of a humanoid robot or a robotic arm using the lowest number of degrees of freedom necessary to perform a task and related storage medium readable by an electronic computer

Publications (1)

Publication Number Publication Date
IT201900021513A1 true IT201900021513A1 (en) 2021-05-19

Family

ID=69903959

Family Applications (1)

Application Number Title Priority Date Filing Date
IT102019000021513A IT201900021513A1 (en) 2019-11-19 2019-11-19 Method and electronic device to control the movement of a humanoid robot or a robotic arm using the lowest number of degrees of freedom necessary to perform a task and related storage medium readable by an electronic computer

Country Status (2)

Country Link
IT (1) IT201900021513A1 (en)
WO (1) WO2021099948A1 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114237233B (en) * 2021-11-30 2024-02-23 深圳市优必选科技股份有限公司 Robot chess playing method and device, computer readable storage medium and robot
CN114147716A (en) * 2021-12-09 2022-03-08 乐聚(深圳)机器人技术有限公司 Robot control method, device, controller and storage medium
CN114347020B (en) * 2021-12-22 2024-02-13 深圳市优必选科技股份有限公司 Motion control method, motion control device and robot
DE102022208769B3 (en) * 2022-08-24 2023-11-09 Kuka Deutschland Gmbh Robot path planning and control

Non-Patent Citations (7)

* Cited by examiner, † Cited by third party
Title
ANA KENNEY ET AL: "MIP-BOOST: Efficient and Effective L_0 Feature Selection for Linear Regression", ARXIV.ORG, CORNELL UNIVERSITY LIBRARY, 201 OLIN LIBRARY CORNELL UNIVERSITY ITHACA, NY 14853, 7 August 2018 (2018-08-07), XP081491511 *
CHRISTIAN OTT ET AL: "Posture and balance control for biped robots based on contact force optimization", HUMANOID ROBOTS (HUMANOIDS), 2011 11TH IEEE-RAS INTERNATIONAL CONFERENCE ON, IEEE, 26 October 2011 (2011-10-26), pages 26 - 33, XP032070339, ISBN: 978-1-61284-866-2, DOI: 10.1109/HUMANOIDS.2011.6100882 *
LAURENZI ARTURO ET AL: "Balancing Control Through Post-Optimization of Contact Forces", 2018 IEEE-RAS 18TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), IEEE, 6 November 2018 (2018-11-06), pages 320 - 326, XP033505526, DOI: 10.1109/HUMANOIDS.2018.8625013 *
OUSSAMA KANOUN ET AL: "Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task", IEEE TRANSACTIONS ON ROBOTICS, IEEE SERVICE CENTER, PISCATAWAY, NJ, US, vol. 27, no. 4, 1 August 2011 (2011-08-01), pages 785 - 792, XP011382857, ISSN: 1552-3098, DOI: 10.1109/TRO.2011.2142450 *
POLVERINI MATTEO PARIGI ET AL: "Sparse Optimization of Contact Forces for Balancing Control of Multi-Legged Humanoids", IEEE ROBOTICS AND AUTOMATION LETTERS, IEEE, vol. 4, no. 2, 1 April 2019 (2019-04-01), pages 1117 - 1124, XP011709448, DOI: 10.1109/LRA.2019.2894379 *
SONNY TARBOURIECH: "Dual-arm relative tasks performance using sparse kinematic control", HAL ID: HAL-01735462, 14 September 2018 (2018-09-14), Retrieved from the Internet <URL:https://hal.archives-ouvertes.fr/hal-01735462v2>
VINICIUS MARIANO GONCALVES ET AL.: "Parsimonious kinematic Control of highly Redundant robots", IEEE ROBOTICS AND AUTOMATION LETTERS, vol. 1, no. 1, January 2016 (2016-01-01), XP011591968, DOI: 10.1109/LRA.2015.2506259

Also Published As

Publication number Publication date
WO2021099948A1 (en) 2021-05-27

Similar Documents

Publication Publication Date Title
IT201900021513A1 (en) Method and electronic device to control the movement of a humanoid robot or a robotic arm using the lowest number of degrees of freedom necessary to perform a task and related storage medium readable by an electronic computer
Ciocarlie et al. Towards reliable grasping and manipulation in household environments
Beeson et al. TRAC-IK: An open-source library for improved solving of generic inverse kinematics
Ha et al. Development of open humanoid platform DARwIn-OP
RU2017106935A (en) METHODS AND SYSTEMS FOR MANIPULATING OBJECTS BY USING A ROBOT FOR SPECIFIC APPLICATION IN THE INSTRUMENTAL ENVIRONMENT WITH ELECTRONIC LIBRARIES OF MINI MANIPULATIONS
Hou et al. Design and experiment of a universal two-fingered hand with soft fingertips based on jamming effect
JP7463777B2 (en) CONTROL DEVICE, LEARNING DEVICE, ROBOT SYSTEM, AND METHOD
Sam et al. Simulation of pick and place robotics system using Solidworks Softmotion
BR112015001895A2 (en) robotic surgical system, and robotic method
JP5406893B2 (en) Robust operation of tendon-driven robotic fingers using force and position-based control laws
JP2013146794A (en) Robot controller, robot system and robot control method
WO2017051263A3 (en) Robot arm for testing of touchscreen applications
US10821603B2 (en) Methods and apparatus for robot control
Krüger et al. Technologies for the fast set-up of automated assembly processes
ATE518629T1 (en) INDUSTRIAL ROBOT AND METHOD FOR CONTROLLING THE MOVEMENT OF AN INDUSTRIAL ROBOT
Huang et al. A new method of inverse kinematics solution for industrial 7DOF robot
Borangiu Advances in robot design and intelligent control
Valizadeh et al. PZT Actuators’ Effect on Vibration Control of the PRRRP 2‐DOF Flexible Parallel Manipulator
Jentoft et al. How to think about grasping systems-basis grasps and variation budgets
Kang et al. Analysis of large range rotational flexure in precision 6-DOF tripod robot
Duan et al. Addition of springs and its impact on cable-driven serial manipulators
Xu et al. Multi-robot collaborative assembly research for 3C manufacturing–taking server motherboard assembly task as an example
Grube et al. Modeling and Advanced Control for Designing a Soft Material Robot
Li et al. Design of Embedded Structure Variable Stiffness Pneumatic Actuator
Kiswanto et al. Visual servoing of mobile microrobot with centralized camera