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:
Sep. 01, 2015
Filed:
Sep. 22, 2009
Adam M. Sanders, Holly, MI (US);
Leandro G. Barajas, Troy, MI (US);
Frank Noble Permenter, Webster, TX (US);
Philip A. Strawser, Houston, TX (US);
Adam M. Sanders, Holly, MI (US);
Leandro G. Barajas, Troy, MI (US);
Frank Noble Permenter, Webster, TX (US);
Philip A. Strawser, Houston, TX (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 for performing an autonomous task includes a humanoid robot having a plurality of compliant robotic joints, actuators, and other integrated system devices that are controllable in response to control data from various control points, and having sensors for measuring feedback data at the control points. The system includes a multi-level distributed control framework (DCF) for controlling the integrated system components over multiple high-speed communication networks. The DCF has a plurality of first controllers each embedded in a respective one of the integrated system components, e.g., the robotic joints, a second controller coordinating the components via the first controllers, and a third controller for transmitting a signal commanding performance of the autonomous task to the second controller. The DCF virtually centralizes all of the control data and the feedback data in a single location to facilitate control of the robot across the multiple communication networks.