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:
Jul. 30, 2024
Filed:
Mar. 01, 2022
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Devesh Jha, Cambridge, MA (US);
Arvind Raghunathan, Cambridge, MA (US);
Yuki Shirai, Cambridge, MA (US);
Diego Romeres, Cambridge, MA (US);
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Abstract
A robotic system for manipulating an object with a robotic manipulator is provided. The robotic system is configured to collect a digital representation of a task for manipulating the object; solve a robust control problem to optimize a sequence of control forces to be applied by the robotic manipulator to change a state of the object, where an evolution of the state of the object is governed by a stochastic complementarity system modeling the task with a predefined probability. The robust control problem optimizes a cost function to generate the sequence of control forces performing the task subject to joint chance constraints including a first chance constraint on the state of the object being manipulated and a second chance constraint on stochastic complementarily constraints modeling manipulation of the object. The robotic system is further configured to control the manipulation of the object based on the sequence of control forces.