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:
Oct. 19, 2021
Filed:
Oct. 30, 2018
National Chiao Tung University, Hsinchu, TW;
Kai-Tai Song, New Taipei, TW;
Jen-Hao Chen, New Taipei, TW;
NATIONAL CHIAO TUNG UNIVERSITY, Hsinchu, TW;
Abstract
A robot controlling method includes: obtaining a depth image by a depth camera; receiving the depth image and obtaining an object parameter according to the depth image by a processing circuit; generating an attractive force parameter according to a target trajectory by the processing circuit; generating a repulsive force parameter according to a first vector between the object parameter and a robot by the processing circuit; generating a virtual force parameter according to a second vector between the object parameter and the robot by the processing circuit; and outputting a control signal to the robot to drive the robot according to the attractive force parameter, the repulsive force parameter and the virtual force parameter by the processing circuit.