ITTO20130828A1 - CONTROL SYSTEM OF THE MOVEMENT OF ALL THE BODY BASED ON ATTRACTORS FOR AN ARTICULATED ROBOT - Google Patents
CONTROL SYSTEM OF THE MOVEMENT OF ALL THE BODY BASED ON ATTRACTORS FOR AN ARTICULATED ROBOTInfo
- 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
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
-
- 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)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
IT000828A ITTO20130828A1 (en) | 2013-10-14 | 2013-10-14 | CONTROL SYSTEM OF THE MOVEMENT OF ALL THE BODY BASED ON ATTRACTORS FOR AN ARTICULATED ROBOT |
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 (en) | 2013-10-14 | 2013-10-14 | CONTROL SYSTEM OF THE MOVEMENT OF ALL THE BODY BASED ON ATTRACTORS FOR AN ARTICULATED ROBOT |
Publications (1)
Publication Number | Publication Date |
---|---|
ITTO20130828A1 true ITTO20130828A1 (en) | 2015-04-15 |
Family
ID=49920509
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
IT000828A ITTO20130828A1 (en) | 2013-10-14 | 2013-10-14 | CONTROL SYSTEM OF THE MOVEMENT OF ALL THE BODY BASED ON ATTRACTORS FOR AN ARTICULATED ROBOT |
Country Status (2)
Country | Link |
---|---|
IT (1) | ITTO20130828A1 (en) |
WO (1) | WO2015056178A1 (en) |
Families Citing this family (5)
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 (en) * | 2017-04-18 | 2019-04-12 | 中国科学院重庆绿色智能技术研究院 | A kind of master-slave mode operating robot control method |
CN114818354B (en) * | 2022-05-09 | 2024-02-13 | 合肥工业大学 | Robot flexible joint friction force analysis and modeling method |
-
2013
- 2013-10-14 IT IT000828A patent/ITTO20130828A1/en unknown
-
2014
- 2014-10-14 WO PCT/IB2014/065308 patent/WO2015056178A1/en active Application Filing
Non-Patent Citations (4)
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 |
---|---|
WO2015056178A8 (en) | 2015-11-12 |
WO2015056178A1 (en) | 2015-04-23 |
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