Robot with joints of variable rigidity and method for calculating said optimized rigidity
US9555543B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 3, 2012 |
| Grant date | Jan 31, 2017 |
| Priority date | — |
| Expiry date | May 15, 2033 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39261
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A jointed robot capable to move on a surface is provided. It is known to limit to a predefined fixed value the torque that the motors of the joints of the robot can develop. A rigidity coefficient corresponding to the limit torque is calculated by solving a dynamic equilibrium model of the robot. The contact points of the characteristic effectors are determined by a selection from a list of potential effectors, notably as a function of a criterion of distance from a virtual ground plane. The contact forces for said effectors are calculated by optimal resolution of the equilibrium equations. Finally the torques applied in the dynamic equilibrium model of the robot and the coefficients of corresponding rigidity are calculated.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.