This advanced biomimetic control software system integrates real-time impedance control to manage force, torque, position, and velocity both in task and joint spaces. It utilizes direct torque control on joint motors complemented by precise joint position and torque sensing, all governed by a complete inertial model of the robotic arm. Operating at approximately 500 Hz, the system sustains robust performance in dynamic and noisy environments. Initially demonstrated on a Barrett Technologies WAM robot, it is engineered for seamless adaptation to other platforms and finds application in haptic systems, human-robot interaction, prosthetics, and even cortical neural prosthetic interfaces for animal-operated robotics.
Description
What distinguishes this technology is its capacity to maintain safe interaction forces and torques while executing hybrid control across multiple parameters in real time. This capability allows for smooth, anthropomorphic movement in composite task spaces, surpassing the constraints of conventional joint-based control systems. Its flexible integration with any compatible robotic platform, particularly where precise torque control and comprehensive inertial modeling are available, demonstrates its significant advancement in achieving responsive, stable, and natural robotic motion in demanding settings.
Applications
- Haptic feedback systems
- Medical prosthetic controls
- Human-robot interaction
- Neural interfaced robotics
Advantages
- Enables precise control of force, torque, position, and velocity in both joint and task spaces.
- Maintains safe, robust performance in dynamic, noisy environments through real-time impedance control.
- Facilitates smooth, anthropomorphic movement, ideal for haptic systems, human-robot interaction, and prosthetics.
- Operates at a high frequency (500 Hz) ensuring fast, responsive control adjustments.
- Designed for adaptability to various robotic platforms meeting torque control and sensor requirements.
IP Status
Software
