The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 26, 2021
Filed:
Jul. 11, 2018
Hrl Laboratories, Llc, Malibu, CA (US);
Vincent De Sapio, Westlake Village, CA (US);
Heiko Hoffmann, Simi Valley, CA (US);
HRL Laboratories, LLC, Malibu, CA (US);
Abstract
Described is a system for co-adaptation of robot control to human biomechanics. During operation, the system receives joint angle and joint velocity of a human and co-robot and generates estimated internal states of the human. A task space motion plan is then generated for the co-robot based on a specified cooperative task and estimated internal states and joint angle and joint velocity of the human. Joint torque commands are then generated based on the task space motion plan and joint angle and joint velocity of the human and co-robot. Motion of the co-robot is then controlled, such as causing the co-robot to actuate one or more actuators to move based on the joint torque commands.