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  • Cybernetics, Artificial Intelligence and Robotics  (12)
  • 1
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    Workspace Safe Operation of a Force- or Impedance-Controlled Robot (2013)
    In:  CASI
    Details
    Publication Date: 2019-08-24
    Description: A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
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    NASA TECHNICAL REPORTS
  • 2
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    Interactive robot control system and method of use (2012)
    In:  CASI
    Details
    Publication Date: 2019-08-26
    Description: A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
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    NASA TECHNICAL REPORTS
  • 3
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    Applying Workspace Limitations in a Velocity-Controlled Robotic Mechanism (2014)
    In:  CASI
    Details
    Publication Date: 2019-08-28
    Description: A robotic system includes a robotic mechanism responsive to velocity control signals, and a permissible workspace defined by a convex-polygon boundary. A host machine determines a position of a reference point on the mechanism with respect to the boundary, and includes an algorithm for enforcing the boundary by automatically shaping the velocity control signals as a function of the position, thereby providing smooth and unperturbed operation of the mechanism along the edges and corners of the boundary. The algorithm is suited for application with higher speeds and/or external forces. A host machine includes an algorithm for enforcing the boundary by shaping the velocity control signals as a function of the reference point position, and a hardware module for executing the algorithm. A method for enforcing the convex-polygon boundary is also provided that shapes a velocity control signal via a host machine as a function of the reference point position.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
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  • 4
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    Torque Control of Underactuated Tendon-driven Robotic Fingers (2013)
    In:  CASI
    Details
    Publication Date: 2019-08-28
    Description: A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
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  • 5
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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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  • 6
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    Position Control of Tendon-Driven Fingers (2011)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: Conventionally, tendon-driven manipulators implement some force control scheme based on tension feedback. This feedback allows the system to ensure that the tendons are maintained taut with proper levels of tensioning at all times. Occasionally, whether it is due to the lack of tension feedback or the inability to implement sufficiently high stiffnesses, a position control scheme is needed. This work compares three position controllers for tendon-driven manipulators. A new controller is introduced that achieves the best overall performance with regards to speed, accuracy, and transient behavior. To compensate for the lack of tension feedback, the controller nominally maintains the internal tension on the tendons by implementing a two-tier architecture with a range-space constraint. These control laws are validated experimentally on the Robonaut-2 humanoid hand. I
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: JSC-CN-23055 , International Conference on Intelligent Robots and Systems (IROS); Sep 25, 2011 - Sep 30, 2011; San Francisco, CA; United States
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    NASA TECHNICAL REPORTS
  • 7
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    Method and apparatus for automatic control of a humanoid robot (2013)
    In:  CASI
    Details
    Publication Date: 2019-08-26
    Description: A robotic system includes a humanoid robot having a plurality of joints adapted for force control with respect to an object acted upon by the robot, a graphical user interface (GUI) for receiving an input signal from a user, and a controller. The GUI provides the user with intuitive programming access to the controller. The controller controls the joints using an impedance-based control framework, which provides object level, end-effector level, and/or joint space-level control of the robot in response to the input signal. A method for controlling the robotic system includes receiving the input signal via the GUI, e.g., a desired force, and then processing the input signal using a host machine to control the joints via an impedance-based control framework. The framework provides object level, end-effector level, and/or joint space-level control of the robot, and allows for functional-based GUI to simplify implementation of a myriad of operating modes.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
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  • 8
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    Humanoid Robot (2013)
    In:  CASI
    Details
    Publication Date: 2019-08-26
    Description: A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
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  • 9
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    Robust Operation of Tendon-Driven Robot Fingers Using Force and Position-Based Control Laws (2013)
    In:  CASI
    Details
    Publication Date: 2019-08-26
    Description: A robotic system includes a tendon-driven finger and a control system. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each have a corresponding sensor. The system selectively injects a compliance value into the position-based control law when only some sensors are available. A control system includes a host machine and a non-transitory computer-readable medium having a control process, which is executed by the host machine to control the finger via the force- or position-based control law. A method for controlling the finger includes determining the availability of a tension sensor(s), and selectively controlling the finger, using the control system, via the force or position-based control law. The position control law allows the control system to resist disturbances while nominally maintaining the initial state of internal tendon tensions.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
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  • 10
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    Hierarchical Robot Control System and Method for Controlling Select Degrees of Freedom of an Object Using Multiple Manipulators (2013)
    In:  CASI
    Details
    Publication Date: 2019-08-26
    Description: A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. The controller controls the manipulators during the primary task using a multiple-task control hierarchy, and automatically parameterizes the internal forces of the system for each grasp type in response to an input signal. The primary task is defined at an object-level of control, e.g., using a closed-chain transformation, such that only select degrees of freedom are commanded for the object. A control system for the robotic system has a host machine and algorithm for controlling the manipulators using the above hierarchy. A method for controlling the system includes receiving and processing the input signal using the host machine, including defining the primary task at the object-level of control, e.g., using a closed-chain definition, and parameterizing the internal forces for each of grasp type.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
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