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:
Dec. 24, 2024
Filed:
Sep. 12, 2023
Sanctuary Cognitive Systems Corporation, Vancouver, CA;
Adrian L. Kaehler, Boulder Creek, CA (US);
Christopher M. Cianci, San Jose, CA (US);
Kyle J. Martin, Glendale, CA (US);
Carolyn Wales, Menlo Park, CA (US);
Jeffrey S. Kranski, Portland, OR (US);
Sanctuary Cognitive Systems Corporation, Vancouver, CA;
Abstract
A robot is provided having a kinematic chain comprising a plurality of joints and links, including a root joint connected to a robot pedestal, and at least one end effector. A plurality of actuators are fixedly mounted on the robot pedestal. A plurality of tendons is connected to a corresponding plurality of actuation points on the kinematic chain and to actuators in the plurality of actuators, arranged to translate actuator position and force to actuation points for tendon-driven joints on the kinematic chain with losses in precision due to variability of tendons in the plurality of tendons. A controller operates the kinematic chain to perform a task. The controller is configured to generate actuator command data in dependence on the actuator states and image data in a manner that compensates for the losses in precision in the tendon-driven mechanisms.