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. 16, 2013
Filed:
Nov. 01, 2010
Muhammad E Abdallah, Houston, TX (US);
Robert J. Platt, Jr., Cambridge, MA (US);
Matthew J Reiland, Oxford, MI (US);
Brian Hargrave, Dickenson, TX (US);
Myron a Diftler, Houston, TX (US);
Philip a Strawser, Houston, TX (US);
Chris A. Ihrke, Hartland, MI (US);
Muhammad E Abdallah, Houston, TX (US);
Robert J. Platt, Jr., Cambridge, MA (US);
Matthew J Reiland, Oxford, MI (US);
Brian Hargrave, Dickenson, TX (US);
Myron A Diftler, Houston, TX (US);
Philip A Strawser, Houston, TX (US);
Chris A. Ihrke, Hartland, 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 tendon-driven finger and a control system. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each have a corresponding sensor. The system selectively injects a compliance value into the position-based control law when only some sensors are available. A control system includes a host machine and a non-transitory computer-readable medium having a control process, which is executed by the host machine to control the finger via the force- or position-based control law. A method for controlling the finger includes determining the availability of a tension sensor(s), and selectively controlling the finger, using the control system, via the force or position-based control law. The position control law allows the control system to resist disturbances while nominally maintaining the initial state of internal tendon tensions.