Docket #: S14-387
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
Applications
- Flexible robotics
- Medical robotics
- Catheters
- Endoscopes
Advantages
- Accurate – especially in constrained spaces
- Constant – maintains safe levels of constant contact
- Adaptive - navigates irregular and unpredictable constrained spaces
Publications
- Yip, Michael C., and David B. Camarillo. "Position/force control of a flexible manipulator under model-less control." U.S. Patent 10,434,644, issued October 8, 2019.
- Yip, Michael C., and David B. Camarillo. "Model-less Feedback Control of Continuum Manipulators in Constrained Environments." IEEE Transactions on Robotics. 30, no. 4 (2014): 880-889. DOI: 10.1109/TRO.2014.2309194
Related Links
Patents
- Published Application: WO2016073367
- Published Application: 20170312920
- Issued: 10,434,644 (USA)
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