System and method for controlling a robot using constrained dynamic movement primitives
US12343876B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 14, 2022 |
| Grant date | Jul 1, 2025 |
| Priority date | — |
| Expiry date | Sep 7, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40116
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A controller for controlling an operation of a robot to execute a task is provided. The controller comprises a memory configured to store a set of dynamic movement primitives (DMPs) associated with the task. The set of DMPs comprise a set of at least two dynamical systems: a function representing point attractor dynamics and a forcing function corresponding to a learned demonstration of the task. The controller comprises a processor configured to transform the set of DMPs to a set of constrained DMPs (CDMPs) by determining a perturbation function associated with the forcing function. The perturbation function is associated with a set of operational constraints. The processor is further configured to solve, a non-linear optimization problem for the set of CDMPs based on the set of operational constraints and generate, a control input for controlling the robot for executing the task, based on the solution.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.