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公开(公告)号：US11951630B2
公开(公告)日：2024-04-09
申请号：US17238956
申请日：2021-04-23
Inventor： Oussama Khatib
CPC classification number: B25J9/1669 , B25J9/1612 , B25J13/025
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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公开(公告)号：US20230339121A1
公开(公告)日：2023-10-26
申请号：US18025889
申请日：2021-11-20
Inventor： Jorda Mikael , Margot R. Vulliez , Oussama Khatib
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.
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公开(公告)号：US20230330865A1
公开(公告)日：2023-10-19
申请号：US18022205
申请日：2021-09-07
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.
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公开(公告)号：US20210237272A1
公开(公告)日：2021-08-05
申请号：US17238956
申请日：2021-04-23
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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Patent Agency Ranking
5.发明申请公开(公告)号：US20180071915A1
公开(公告)日：2018-03-15
申请号：US15260492
申请日：2016-09-09
Inventor： Oussama Khatib , Shuyun Chung , Norio Neki
IPC: B25J9/16 , G05B19/418
CPC classification number: B25J13/00 , B25J9/10 , B25J9/1656 , B25J9/1679 , G05B2219/39322 , G05B2219/40032 , Y10S901/02 , Y10S901/31 , Y10S901/46
Abstract: The present invention provides a workpiece contact state estimating device and a workpiece contact state estimation method to estimate an actual state of contact of a workpiece A with a peripheral object on the basis of a feasible contact acting force range, which is a feasible range of the value of a contact acting force (the force acting on a manipulator 1 generated by contact) prepared in advance for each of a plurality of types of contact states that are feasible as the states of contact of the workpiece A with the peripheral object, and a measurement value of the contact acting force at the time of contact of the workpiece A with the peripheral object.
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公开(公告)号：US12226892B2
公开(公告)日：2025-02-18
申请号：US18022208
申请日：2021-09-07
Inventor： Margot R. Vulliez , Oussama Khatib
Abstract: A versatile, compact, and high-fidelity haptic device is provided. The mechanical transparency of the design and the selection of proper actuation meet the challenges of an accurate and stiff haptic device with high and isotropic force capability. Such a haptic interface enables a precise remote control and provides perfect sense of the task interaction in any environments and applications.
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7.发明公开公开(公告)号：US20230259663A1
公开(公告)日：2023-08-17
申请号：US18025888
申请日：2021-10-05
Inventor： Shameek Ganguly , Oussama Khatib
IPC: G06F30/10
CPC classification number: G06F30/10 , B25J9/1656
Abstract: Fast and stable methods are provided for estimating contact forces at multiple contact patches for multi-contact interactions between a robot and objects in its environment. Additionally, the estimated contact forces are physically consistent, and provide a useful to substitute to measured forces using sensors. Embodiments of this invention can be programmed as computer- implemented method(s) into a simulation software to produce smooth motion of the robot and objects in its environment without artifacts such as inter-penetration between bodies and unexpected oscillations.
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公开(公告)号：US20230311337A1
公开(公告)日：2023-10-05
申请号：US18022208
申请日：2021-09-07
Inventor： Margot R. Vulliez , Oussama Khatib
CPC classification number: B25J13/025 , B25J9/1689
Abstract: A versatile, compact, and high-fidelity haptic device is provided. The mechanical transparency of the design and the selection of proper actuation meet the challenges of an accurate and stiff haptic device with high and isotropic force capability. Such a haptic interface enables a precise remote control and provides perfect sense of the task interaction in any environments and applications.
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公开(公告)号：US10213925B2
公开(公告)日：2019-02-26
申请号：US15260492
申请日：2016-09-09
Inventor： Oussama Khatib , Shuyun Chung , Norio Neki
Abstract: The present invention provides a workpiece contact state estimating device and a workpiece contact state estimation method to estimate an actual state of contact of a workpiece A with a peripheral object on the basis of a feasible contact acting force range, which is a feasible range of the value of a contact acting force (the force acting on a manipulator 1 generated by contact) prepared in advance for each of a plurality of types of contact states that are feasible as the states of contact of the workpiece A with the peripheral object, and a measurement value of the contact acting force at the time of contact of the workpiece A with the peripheral object.
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