Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2007-12-25
2007-12-25
Black, Thomas (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S246000, C700S251000, C700S253000, C700S260000, C700S261000, C318S568100, C318S568120, C318S568160, C318S568170, C318S568200, C901S001000, C901S009000, C901S046000
Reexamination Certificate
active
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.
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Herr Hugh M.
Hofmann Andreas G.
Popovic Marko B.
Black Thomas
Call Charles G.
Marc McDieunel
Massachusetts Institute of Technology
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