Biomimetic motion and balance controllers for use in...

Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control

Reexamination Certificate

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C700S246000, C700S251000, C700S253000, C700S260000, C700S261000, C318S568100, C318S568120, C318S568160, C318S568170, C318S568200, C901S001000, C901S009000, C901S046000

Reexamination Certificate

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11499853

ABSTRACT:
Systems for controlling the motion of multiple articulated elements connected by one or more joints in an artificial appendage system. Four different embodiments includes a controller that reduces the dimension of joint state space by utilizing biomechanically inspired motion primitives; a quadratic proportional-derivative (PD) controller which employs a two-stage linearization method, applies constraints to variables for dynamic stability, and employs a corrective “sliding control” mechanism to account for errors in the linear model used; a non-prioritized balance control approach that employs enforced linear dynamics in which all control variables are truncated to linear terms in joint jerks; and a biomimetic motion and balance controller based on center of mass (CM) energetic and biomimetic zero moment conditions.

REFERENCES:
patent: 5294873 (1994-03-01), Seraji
patent: 6144385 (2000-11-01), Girard
patent: 7136722 (2006-11-01), Nakamura et al.
patent: 7145305 (2006-12-01), Takenaka et al.
Sarrigeorgidis et al., Motion control of the N.T. U. A. robotic snake on a planar surface, 1998, IEEE, p. 2977-2981.
Yun, Dynamic state feedback control of constrained robot manipulators, 1988, IEEE, p. 622-626.

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