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Method and apparatus for automatic control of a humanoid robotA 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.
Document ID
20130009052
Acquisition Source
Headquarters
Document Type
Other - Patent
Authors
Abdallah, Muhammad E
Platt, Robert
Wampler, II, Charles W.
Reiland, Matthew J
Sanders, Adam M
Date Acquired
August 27, 2013
Publication Date
January 29, 2013
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
Patent
US-Patent-8,364,314
Patent Application
US-Patent-Appl-SN-12/624,445

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