ARTIFICIAL INTELLIGENCE-ACTUATED ROBOT

ARTIFICIAL INTELLIGENCE-ACTUATED ROBOT

A robot is provided having a kinematic chain comprising a plurality of joints and links, including a root joint connected to a robot pedestal, and at least one end effector. A plurality of actuators are fixedly mounted on the robot pedestal. A plurality of tendons is connected to a corresponding plu...

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Hauptverfasser: Kaehler, Adrian L, Kranski, Jeffrey S, Martin, Kyle J, Cianci, Christopher M, Wales, Carolyn
Format: Patent
Sprache:eng
Schlagworte:
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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creator Kaehler, Adrian L
Kranski, Jeffrey S
Martin, Kyle J
Cianci, Christopher M
Wales, Carolyn
description A robot is provided having a kinematic chain comprising a plurality of joints and links, including a root joint connected to a robot pedestal, and at least one end effector. A plurality of actuators are fixedly mounted on the robot pedestal. A plurality of tendons is connected to a corresponding plurality of actuation points on the kinematic chain and to actuators in the plurality of actuators, arranged to translate actuator position and force to actuation points for tendon-driven joints on the kinematic chain with losses in precision due to variability of tendons in the plurality of tendons. A controller operates the kinematic chain to perform a task. The controller is configured to generate actuator command data in dependence on the actuator states and image data in a manner that compensates for the losses in precision in the tendon-driven mechanisms.
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subjects CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
title ARTIFICIAL INTELLIGENCE-ACTUATED ROBOT
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