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Torque-Position Transformer


Stanford Reference:

04-178


Abstract


Stanford University researchers have patented a robotic torque control method for a position controlled robot which can perform more advanced robotic tasks, especially in unstructured dynamic environments. Torque control capability is enabled by a torque-to-position transformer designed to allow implementation of joint torque control techniques on joint position-controlled robots. This transformer does not require hardware modification in the controller or robot. It also keeps the original position controller in the loop thereby inheriting the fail-safe procedures of the original system. This transformer can be implemented as a software unit and applied to any conventional position-controlled robot.

Figure

Figure description - Experimental set-up of ASIMO arm

Stage of Research:
Transformer validated experimentally for advanced tasks in various position-controlled robots.




Applications


  • Humanoid and medical robots
  • Industrial robots requiring torque capability
  • University research labs with position-controlled robots

Advantages


  • Allows the application of more advanced tasks such as force control and constrained motion tasks
  • Higher performance in position tracking as well as in compliant motion
  • Quick modification of existing position-controlled systems without the need for significant, if any, hardware changes, avoiding expensive retrofitting
  • Keeps original position controller in the loop thereby inheriting the fail-safe procedures of the original system

Publications



Related Web Links



Innovators & Portfolio


  • Oussama Khatib   
  • Jaeheung Park   
  • Peter Thaulad   

Patent Status



Date Released

 1/5/2015
 

Licensing Contact


Luis Mejia, Senior Licensing Associate
(650) 725-9409 (Direct)
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Related Keywords


robotics   mobile robotics   medical robotics   instrumentation: robotics   04-178   humanoid robots   Industrial Robotics   farm team   none   haptics   robotic joint   Robotics, Control, Mechanical Design   robotics/telerobotics   torque control   
 

   

  

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