Position/force control of a flexible robot under model-less control

Stanford researchers in the Camarillo Lab have patented a model-less, robotic position-control technique that regulates force. The controller simultaneously controls position and applied forces of the manipulator as it moves through a workspace, without requiring a model. In addition, the robot traces paths along the environment while a specified amount of force is maintained and not exceeded. This model-less control technique is ideal for medical robotics where small, flexible devices navigate constrained and highly sensitive environments.

Stage of development - Prototype