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    Local Autonomy-Based Haptic Robot Interaction with Dual Proxy Model
    2.
    发明公开
    Local Autonomy-Based Haptic Robot Interaction with Dual Proxy Model 审中-公开

    公开(公告)号：US20230339121A1

    公开(公告)日：2023-10-26

    申请号：US18025889

    申请日：2021-11-20

    Applicant: The Board of Trustees of the Leland Stanford Junior University

    Inventor： Jorda Mikael ,  Margot R. Vulliez ,  Oussama Khatib

    IPC: B25J13/02 ,  G06F3/01 ,  B25J9/16

    CPC classification number: B25J13/025 ,  G06F3/016 ,  B25J9/1689

    Abstract: Haptic-robot control based on local autonomy and a dual-proxy model is provided. The dual proxy guarantees generation of safe and consistent commands for two local controllers, which ensure the compliance and stability of the systems on both sides. A Force-Space Particle Filter enables an autonomous modeling and rendering of the task contact geometry from the robot state and sensory data. The method suppresses the instability issues caused by the transfer of power variables through a network with communication delays in conventional haptic-robot controllers. The results demonstrated the transparency and high fidelity of the method, and robustness to communication delays. While the conventional method failed for communication delays higher that 150 milliseconds, the dual proxy method maintained high performance for delays up to one and a half seconds. The local autonomy-based haptic control of robots with the dual-proxy model enables applications in areas such as medical, underwater and space robotics.

    Drift-Based Adaptive Workspace Mapping Controller in Haptic Interaction
    3.
    发明公开
    Drift-Based Adaptive Workspace Mapping Controller in Haptic Interaction 审中-公开

    公开(公告)号：US20230330865A1

    公开(公告)日：2023-10-19

    申请号：US18022205

    申请日：2021-09-07

    Applicant: The Board of Trustees of the Leland Stanford Junior University

    Inventor： Margot R. Vulliez ,  Oussama Khatib

    IPC: B25J13/02

    CPC classification number: B25J13/025

    Abstract: An adaptive workspace mapping controller is provided having a fine balance between a progressive drift to the task area of interests and an adjustment of the remote force-motion resolution through scaling factor change. This adaptive workspace mapping controller gives the human the possibility to perform teleoperation activities in any environments without feeling the limitations of the haptic interface. Embodiments smartly and continuously adapts force-motion mapping in the teleoperation system, between the haptic device and the controlled robot, with respect to their respective workspaces and capabilities, to the task trajectories and interaction forces, and to user preferences. It significantly improves on the existing mapping controllers since the new drift-computation method and the additional adaptive-scaling step make it as efficient in large free-space motions as in quasi-static interaction tasks.

    SYSTEMS AND METHODS FOR PROVIDING A CONTROL SOLUTION FOR AN ACTUATOR
    4.
    发明申请
    SYSTEMS AND METHODS FOR PROVIDING A CONTROL SOLUTION FOR AN ACTUATOR 有权

    公开(公告)号：US20210237272A1

    公开(公告)日：2021-08-05

    申请号：US17238956

    申请日：2021-04-23

    Applicant: THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY

    Inventor： Oussama Khatib

    IPC: B25J9/16

    Abstract: Systems and methods of the present disclosure provide a control solution for a robotic actuator. The actuator can have one or two degrees of freedom of control, and can connect with a platform using an arm. The arm can have at least two degrees of freedom of control, and the platform can have at least two degrees of freedom of control. The platform can be subjected to unpredictable forces requiring a control response. The control solution can be generated using operational space control, using the degrees of freedom of the arm, platform and actuator.

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