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:
May. 24, 2016
Filed:
Oct. 08, 2015
Redwood Robotics, Inc., San Francisco, CA (US);
Aaron Edsinger, San Francisco, CA (US);
Advait Jain, San Francisco, CA (US);
Anthony Rizzi Jules, Oakland, CA (US);
Redwood Robotics Inc., San Francisco, CA (US);
Abstract
A robotic device may receive task information defining (i) a nominal trajectory for an end-effector coupled to a manipulator of the robotic device, and (ii) forces to be exerted by the end-effector along the nominal trajectory; determining, based on the task information, a modified trajectory that is offset from the nominal trajectory; determining, based on the modified trajectory and the forces, torques to be applied to the manipulator over time; causing the torques to be applied to the manipulator so as to cause the end-effector to follow the modified trajectory and substantially exert the forces along the modified trajectory; receiving force feedback information from a sensor coupled to the robotic device indicating respective forces being experienced by the end-effector at respective points along the modified trajectory; and adjusting the torques to be applied to the manipulator based on the force feedback information.