Singularity-free kinematic parameterization of soft robot manipulators
US12220818B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 13, 2021 |
| Grant date | Feb 11, 2025 |
| Priority date | — |
| Expiry date | Mar 8, 2042 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J18/06
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A computer-implemented method for controlling a robot, the method comprising: determining a first value for a first joint parameter associated with a first continuum joint included in the robot and a first value for a second joint parameter associated with the first continuum joint, wherein the first joint parameter indicates a bending radius of a flexible portion of the continuum joint, and the second joint parameter indicates a rotation of the flexible portion of the continuum joint with respect to a base portion of the first continuum joint; and positioning an end portion of the robot at a final target location based on the first value of the first joint parameter and the first value of the second joint parameter.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.