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    ATTRACTOR-BASED WHOLE-BODY MOTION CONTROL (WBMC) SYSTEM FOR AN ARTICULATED ROBOT
    1.
    发明申请
    ATTRACTOR-BASED WHOLE-BODY MOTION CONTROL (WBMC) SYSTEM FOR AN ARTICULATED ROBOT 审中-公开
    基于引导者的全身运动控制（WBMC）系统，用于机器人

    公开(公告)号：WO2015056178A8

    公开(公告)日：2015-11-12

    申请号：PCT/IB2014065308

    申请日：2014-10-14

    Applicant: FOND ISTITUTO ITALIANO DI TECNOLOGIA

    Inventor： MORO FEDERICO LORENZO ,  TSAGARAKIS NIKOLAOS ,  CALDWELL DARWIN

    IPC: B25J9/16 ,  B25J9/00

    CPC classification number: B25J9/1607 ,  G05B2219/39

    Abstract: A Model-Based, Whole-Body Motion-Control (WBMC) system for an articulated robot required to perform simultaneous tasks which are not prioritized a priori and which may also be competing, the system comprising is described, the system comprising : • one or more attractors (MinEff, MomJ, MomCOM, JLim, EEff ), each of which is an operationally independent closed-loop, model-based torque/ force-control module associated with a corresponding robot's controlled task, and is designed to receive a quantity computed based on one or more quantities ( q, q ) representing the state of the robot, and to output robot's joint torques (TGC,TME, TMJ, TLMC, TAMC, TJL, TEE ) which are to be applied to robot's active joints to attract the robot's current state to a robot's target state; and • a torque and/or linear force command generator designed to receive the robot's joint torques and/or linear forces from the one or more attractors and to generate a torque and/or linear force command for the robot based on the received robot's joint torques to cause the robot's current state to converge to the robot's target state.

    Abstract translation: 一种用于关节式机器人的基于模型的全身运动控制（WBMC）系统，其需要执行不优先于先验并且也可能是竞争的同时任务，所述系统包括：所述系统包括：一个或 更多的吸引器（MinEff，MomJ，MomCOM，JLim，EEff），其中每个都是与相应的机器人的受控任务相关联的操作上独立的闭环，基于模型的扭矩/力控制模块，并且被设计成接收数量计算 基于表示机器人的状态的一个或多个量（q，q），并且输出机器人的关节扭矩（TGC，TME，TMJ，TLMC，TAMC，TJL，TEE），其将被应用于机器人的主动关节以吸引 机器人目前状态为机器人的目标状态; 以及•扭矩和/或线性力指令发生器，其被设计成接收来自所述一个或多个吸引器的所述机器人的接头扭矩和/或线性力，并且基于所接收的机器人的接头扭矩来产生所述机器人的扭矩和/或线性力指令 使机器人的当前状态收敛到机器人的目标状态。

    ELECTRONIC MEASUREMENT UNIT FOR A POLYMORPHOUS DEVICE FOR FORCE MEASUREMENT AND POLYMORPHOUS DEVICE INCLUDING THE SAME
    2.
    发明申请
    ELECTRONIC MEASUREMENT UNIT FOR A POLYMORPHOUS DEVICE FOR FORCE MEASUREMENT AND POLYMORPHOUS DEVICE INCLUDING THE SAME 审中-公开
    用于强度测量的多态装置的电子测量单元和包括其的多态装置

    公开(公告)号：WO2014057479A3

    公开(公告)日：2014-06-12

    申请号：PCT/IB2013059323

    申请日：2013-10-11

    Applicant: FOND ISTITUTO ITALIANO DI TECNOLOGIA

    Inventor： SARAKOGLOU IOANNIS ,  TSAGARAKIS NIKOS ,  CALDWELL DARWIN

    IPC: G01L1/22 ,  G01L3/14 ,  G01L5/00 ,  G01L5/16

    CPC classification number: G01L1/005 ,  G01L1/04 ,  G01L1/2206 ,  G01L3/00 ,  G01L3/14 ,  G01L5/009 ,  G01L5/161

    Abstract: An electronic measurement unit for a polymorphous device (1), comprising a number of lateral structures (4), each lateral structure including: a support structure (8, 10, 22, 26, 28); at least one sensor (12, 14) constrained to the support structure and generating an electrical signal indicative of a deformation of the support structure; and a coupling structure (42) that constrains a corresponding external covering element (40) to the support structure in a releasable manner, so that when the external covering element is constrained to the support structure and an external force acts on the external covering element, the electrical signal is indicative of the external force.

    Abstract translation: 一种用于多形式装置（1）的电子测量单元，包括多个横向结构（4），每个横向结构包括：支撑结构（8,10,22,26,28）; 至少一个传感器（12,14），其被约束到所述支撑结构并产生指示所述支撑结构的变形的电信号; 以及以可释放的方式将对应的外部覆盖元件（40）约束到所述支撑结构的联接结构（42），使得当所述外部覆盖元件被约束到所述支撑结构并且外力作用在所述外部覆盖元件上时， 电信号表示外力。

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