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. 29, 2013
Filed:
Nov. 24, 2009
Muhammad E Abdallah, Houston, TX (US);
Robert Platt, Houston, TX (US);
Charles W. Wampler, Ii, Birmingham, MI (US);
Matthew J Reiland, Oxford, MI (US);
Adam M Sanders, Holly, MI (US);
Muhammad E Abdallah, Houston, TX (US);
Robert Platt, Houston, TX (US);
Charles W. Wampler, II, Birmingham, MI (US);
Matthew J Reiland, Oxford, MI (US);
Adam M Sanders, Holly, MI (US);
GM Global Technology Operations LLC, Detroit, MI (US);
The United States of America as represented by the Administrator of the National Aeronautics and Space Administration, Washington, DC (US);
Abstract
A robotic system includes a humanoid robot having a plurality of joints adapted for force control with respect to an object acted upon by the robot, a graphical user interface (GUI) for receiving an input signal from a user, and a controller. The GUI provides the user with intuitive programming access to the controller. The controller controls the joints using an impedance-based control framework, which provides object level, end-effector level, and/or joint space-level control of the robot in response to the input signal. A method for controlling the robotic system includes receiving the input signal via the GUI, e.g., a desired force, and then processing the input signal using a host machine to control the joints via an impedance-based control framework. The framework provides object level, end-effector level, and/or joint space-level control of the robot, and allows for functional-based GUI to simplify implementation of a myriad of operating modes.