Robot with joints of variable rigidity and method for calculating said optimized rigidity
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United States of America Patent
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Jan 31, 2017
Grant Date -
Dec 3, 2015
app pub date -
Aug 3, 2012
filing date -
Aug 4, 2011
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Abstract
A jointed robot capable to move on a surface is provided. It is known to limit to a predefined fixed value the torque that the motors of the joints of the robot can develop. A rigidity coefficient corresponding to the limit torque is calculated by solving a dynamic equilibrium model of the robot. The contact points of the characteristic effectors are determined by a selection from a list of potential effectors, notably as a function of a criterion of distance from a virtual ground plane. The contact forces for said effectors are calculated by optimal resolution of the equilibrium equations. Finally the torques applied in the dynamic equilibrium model of the robot and the coefficients of corresponding rigidity are calculated.
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