Leland Stanford Junior University

Honda Motor Co., Ltd.

Oussama Khatib

Peter Thaulad

Jaehoung Park

Margot R Vulliez

Shuyun Chung

Francois Conti

Norio Neki

Mikael Jorda

Haptic-robot control based on local autonomy and a dual-proxy model is provided. The dual proxy guarantees generation of safe and consistent commands for two local controllers, which ensure the compliance and stability of the systems on both sides. A Force-Space Particle Filter enables an autonomous modeling and rendering of the task contact geometry from the robot state and sensory data. The method suppresses the instability issues caused by the transfer of power variables through a network with communication delays in conventional haptic-robot controllers. The results demonstrated the transparency and high fidelity of the method, and robustness to communication delays. While the conventional method failed for communication delays higher that milliseconds, the dual proxy method maintained high performance for delays up to one and a half seconds. The local autonomy-based haptic control of robots with the dual-proxy model enables applications in areas such as medical, underwater and space robotics.

Local autonomy-based haptic robot interaction with dual proxy model

A versatile, compact, and high-fidelity haptic device is provided. The mechanical transparency of the design and the selection of proper actuation meet the challenges of an accurate and stiff haptic device with high and isotropic force capability. Such a haptic interface enables a precise remote control and provides perfect sense of the task interaction in any environments and applications.

Compact paired parallel architecture for high-fidelity haptic applications

Systems and methods of the present disclosure provide a control solution for a robotic actuator. The actuator can have one or two degrees of freedom of control, and can connect with a platform using an arm. The arm can have at least two degrees of freedom of control, and the platform can have at least two degrees of freedom of control. The platform can be subjected to unpredictable forces requiring a control response. The control solution can be generated using operational space control, using the degrees of freedom of the arm, platform and actuator.

Systems and methods for providing a control solution for an actuator

Systems and methods of the present disclosure provide a control solution for a robotic actuator. The actuator can have one or two degrees of freedom of control, and can connect with a platform using an arm. The arm can have at least two degrees of freedom of control, and the platform can have at least two degrees of freedom of control. The platform can be subjected to unpredictable forces requiring a control response. The control solution can be generated using operational space control, using the degrees of freedom of the arm, platform, and actuator.

The present invention provides a workpiece contact state estimating device and a workpiece contact state estimation method to estimate an actual state of contact of a workpiece A with a peripheral object on the basis of a feasible contact acting force range, which is a feasible range of the value of a contact acting force (the force acting on a manipulatorgenerated by contact) prepared in advance for each of a plurality of types of contact states that are feasible as the states of contact of the workpiece A with the peripheral object, and a measurement value of the contact acting force at the time of contact of the workpiece A with the peripheral object.

Workpiece contact state estimating device and workpiece contact state estimation method

A workspace expansion controller for human interface systems is provided. The controller resolves the physical workspace constraint by relocating the physical workspace of the device mapped inside the environment (virtual or robot) towards the area of interest of the operator without disturbing his or her perception of the environment. The controller is based on the fact that people are greatly influenced by what they perceive visually and often do not notice small deviations in their hand unless that small deviation has a corresponding visual component. With this new control approach the operator can explore much larger workspaces without losing spatial resolution through high scaling factors and thus avoid the drawbacks of indexing common with current approaches.

Workspace expansion controller for human interface systems

Torque control capability is provided to a position controlled robot by calculating joint position inputs from transformation of the desired joint torques. This is based on calculating the transfer function 1/E(s), which relates the desired joint torque to joint position. Here E(s) is a servo transfer function D(s) or an effective servo transfer function D*(s). The use of an effective servo transfer function D*s) is helpful in cases where joint nonlinearities are significant. The effective servo transfer function D*(s) is defined with respect to an ideal joint transfer function G*(s)=1/(Is+bs), where Iis an effective moment of inertia and bis an effective damping coefficient.

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Stanford, CA, United States of America

Oussama Khatib