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  • 1
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    Method and System for Controlling a Dexterous Robot Execution Sequence Using State Classification (2014)
    In:  CASI
    Details
    Publication Date: 2019-08-24
    Description: A robotic system includes a dexterous robot and a controller. The robot includes a plurality of robotic joints, actuators for moving the joints, and sensors for measuring a characteristic of the joints, and for transmitting the characteristics as sensor signals. The controller receives the sensor signals, and is configured for executing instructions from memory, classifying the sensor signals into distinct classes via the state classification module, monitoring a system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the system state. A method for controlling the robot in the above system includes receiving the signals via the controller, classifying the signals using the state classification module, monitoring the present system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the present system state.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 2
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    Rotary series elastic actuator (2012)
    In:  CASI
    Details
    Publication Date: 2019-08-24
    Description: A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
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    NASA TECHNICAL REPORTS
  • 3
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    Method and apparatus for electromagnetically braking a motor (2011)
    In:  CASI
    Details
    Publication Date: 2019-08-26
    Description: An electromagnetic braking system and method is provided for selectively braking a motor using an electromagnetic brake having an electromagnet, a permanent magnet, a rotor assembly, and a brake pad. The brake assembly applies when the electromagnet is de-energized and releases when the electromagnet is energized. When applied the permanent magnet moves the brake pad into frictional engagement with a housing, and when released the electromagnet cancels the flux of the permanent magnet to allow a leaf spring to move the brake pad away from the housing. A controller has a DC/DC converter for converting a main bus voltage to a lower braking voltage based on certain parameters. The converter utilizes pulse-width modulation (PWM) to regulate the braking voltage. A calibrated gap is defined between the brake pad and permanent magnet when the brake assembly is released, and may be dynamically modified via the controller.
    Keywords: Electronics and Electrical Engineering
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    NASA TECHNICAL REPORTS
  • 4
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    Tendon Driven Finger Actuation System (2013)
    In:  CASI
    Details
    Publication Date: 2019-08-28
    Description: A humanoid robot includes a robotic hand having at least one finger. An actuation system for the robotic finger includes an actuator assembly which is supported by the robot and is spaced apart from the finger. A tendon extends from the actuator assembly to the at least one finger and ends in a tendon terminator. The actuator assembly is operable to actuate the tendon to move the tendon terminator and, thus, the finger.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
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    NASA TECHNICAL REPORTS
  • 5
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    Integrated High-Speed Torque Control System for a Robotic Joint (2013)
    In:  CASI
    Details
    Publication Date: 2019-08-28
    Description: A control system for achieving high-speed torque for a joint of a robot includes a printed circuit board assembly (PCBA) having a collocated joint processor and high-speed communication bus. The PCBA may also include a power inverter module (PIM) and local sensor conditioning electronics (SCE) for processing sensor data from one or more motor position sensors. Torque control of a motor of the joint is provided via the PCBA as a high-speed torque loop. Each joint processor may be embedded within or collocated with the robotic joint being controlled. Collocation of the joint processor, PIM, and high-speed bus may increase noise immunity of the control system, and the localized processing of sensor data from the joint motor at the joint level may minimize bus cabling to and from each control node. The joint processor may include a field programmable gate array (FPGA).
    Keywords: Cybernetics, Artificial Intelligence and Robotics
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    NASA TECHNICAL REPORTS
  • 6
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    Framework and Method for Controlling a Robotic System Using a Distributed Computer Network (2015)
    In:  CASI
    Details
    Publication Date: 2019-08-26
    Description: A robotic system for performing an autonomous task includes a humanoid robot having a plurality of compliant robotic joints, actuators, and other integrated system devices that are controllable in response to control data from various control points, and having sensors for measuring feedback data at the control points. The system includes a multi-level distributed control framework (DCF) for controlling the integrated system components over multiple high-speed communication networks. The DCF has a plurality of first controllers each embedded in a respective one of the integrated system components, e.g., the robotic joints, a second controller coordinating the components via the first controllers, and a third controller for transmitting a signal commanding performance of the autonomous task to the second controller. The DCF virtually centralizes all of the control data and the feedback data in a single location to facilitate control of the robot across the multiple communication networks.
    Keywords: Computer Systems; Cybernetics, Artificial Intelligence and Robotics
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    NASA TECHNICAL REPORTS
  • 7
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    Rotary Series Elastic Actuator (2013)
    In:  CASI
    Details
    Publication Date: 2019-08-26
    Description: A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
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    NASA TECHNICAL REPORTS
  • 8
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    Unknown
    Rotary Series Elastic Actuator (2013)
    In:  CASI
    Details
    Publication Date: 2019-08-26
    Description: A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 9
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    System and method for calibrating a rotary absolute position sensor (2012)
    In:  CASI
    Details
    Publication Date: 2019-08-26
    Description: A system includes a rotary device, a rotary absolute position (RAP) sensor generating encoded pairs of voltage signals describing positional data of the rotary device, a host machine, and an algorithm. The algorithm calculates calibration parameters usable to determine an absolute position of the rotary device using the encoded pairs, and is adapted for linearly-mapping an ellipse defined by the encoded pairs to thereby calculate the calibration parameters. A method of calibrating the RAP sensor includes measuring the rotary position as encoded pairs of voltage signals, linearly-mapping an ellipse defined by the encoded pairs to thereby calculate the calibration parameters, and calculating an absolute position of the rotary device using the calibration parameters. The calibration parameters include a positive definite matrix (A) and a center point (q) of the ellipse. The voltage signals may include an encoded sine and cosine of a rotary angle of the rotary device.
    Keywords: Electronics and Electrical Engineering
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    NASA TECHNICAL REPORTS
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