System and method for robust robotic manipulation using chance constrained optimization
US12049007B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 1, 2022 |
| Grant date | Jul 30, 2024 |
| Priority date | — |
| Expiry date | Feb 9, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/50391
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robotic system for manipulating an object with a robotic manipulator is provided. The robotic system is configured to collect a digital representation of a task for manipulating the object; solve a robust control problem to optimize a sequence of control forces to be applied by the robotic manipulator to change a state of the object, where an evolution of the state of the object is governed by a stochastic complementarity system modeling the task with a predefined probability. The robust control problem optimizes a cost function to generate the sequence of control forces performing the task subject to joint chance constraints including a first chance constraint on the state of the object being manipulated and a second chance constraint on stochastic complementarily constraints modeling manipulation of the object. The robotic system is further configured to control the manipulation of the object based on the sequence of control forces.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.