Compositional Impedance Programming for Robot Control
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Solution Overview
Problem
The increasing complexity of robot programming with additional degrees of freedom and the need for human-robot compatibility, particularly in tasks requiring multiple body parts and kinematic redundancy, pose challenges in programming and control, especially when dealing with inverse kinematic problems and transitions between motion states.
Innovation Solution
Compositional impedance programming decomposes complex behaviors into impedance modules, allowing robots to mimic human motor control by assigning mechanical impedance laws, which can be combined and reused, eliminating the need for explicit inverse kinematic computation and enabling seamless transitions between motion states.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If robots are given increased degrees of freedom to improve dexterity and versatility, then robot capability is improved, but programming complexity increases exponentially
Solution Approach 1:
The patent segments the complex control problem into independent impedance modules, each handling specific degrees of freedom or task aspects. This modular decomposition allows complex robot behaviors to be constructed from simpler, reusable impedance components, reducing programming complexity while maintaining versatility
Solution Approach 2:
The patent changes the control paradigm from traditional inverse kinematics to impedance control, fundamentally altering the control parameters and relationships. This parameter transformation enables intuitive programming through physical interaction models rather than complex mathematical computations
2Measurement precision
If conventional inverse kinematic programming is used to control robot end-effector position and orientation, then precise control is achieved, but the programming becomes substantially more complicated with kinematic redundancy
Solution Approach 1:
The patent replaces the mathematical inverse kinematics computational system with a physical impedance control system. Instead of solving complex kinematic equations, the system uses force-position relationships and energy-based control, simplifying programming while maintaining precision through the physical principles of impedance
Solution Approach 2:
The patent introduces impedance modules as intermediary control elements between the robot actuators and the task objectives. These modules serve as mediators that translate high-level task specifications into joint-level control commands, avoiding direct inverse kinematic computations
3Adaptability or versatility
If robots use multiple body parts simultaneously to perform tasks, then human-robot compatibility and versatility are improved, but control complexity increases
Solution Approach 1:
The patent segments the control of multiple body parts into separate, independent impedance modules for each body part or degree of freedom. This segmentation allows each body part to be controlled independently through its own impedance parameters, reducing overall control complexity while enabling coordinated multi-limb behavior
Solution Approach 2:
The patent creates universal impedance modules that can be applied to any robot body part or degree of freedom. These reusable modules provide consistent control behavior across different body parts, reducing control complexity through standardization while maintaining versatility
Data Source
AI summary
Described herein are concepts, techniques, and structures for robot control using compositional impedance programming. In one embodiment, a robot control system comprises a plurality of impedance modules, each of the impedance modules defining one or more mechanical impedance parameters and an impedance controller.