System and method for robust robotic manipulation using chance constrained optimization

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United States of America Patent

PATENT NO 12049007
APP PUB NO 20230278197A1
SERIAL NO

17653031

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Abstract

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A robotic system for manipulating an object with a robotic manipulator is provided. The robotic system is configured to collect a digital representation of a task for manipulating the object; solve a robust control problem to optimize a sequence of control forces to be applied by the robotic manipulator to change a state of the object, where an evolution of the state of the object is governed by a stochastic complementarity system modeling the task with a predefined probability. The robust control problem optimizes a cost function to generate the sequence of control forces performing the task subject to joint chance constraints including a first chance constraint on the state of the object being manipulated and a second chance constraint on stochastic complementarily constraints modeling manipulation of the object. The robotic system is further configured to control the manipulation of the object based on the sequence of control forces.

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Patent Owner(s)

Patent OwnerAddress
MITSUBISHI ELECTRIC RESEARCH LABORATORIES INC201 BROADWAY CAMBRIDGE MA 02139

International Classification(s)

Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Jha, Devesh Cambridge, US 19 63
Raghunathan, Arvind Cambridge, US 23 49
Romeres, Diego Cambridge, US 19 31
Shirai, Yuki Cambridge, US 14 42

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