Method and System for Controlling a Dexterous Robot Execution Sequence Using State Classification
- Author:
- Platt, Robert J., Jr.
- Published:
- April 22, 2014.
- Physical Description:
- 1 electronic document
- Additional Creators:
- Permenter, Frank Noble, Sanders, Adam M., Pfeiffer, Joseph, and Quillin, Nathaniel
Online Version
- hdl.handle.net , Connect to this object online.
- Restrictions on Access:
- Unclassified, Unlimited, Publicly available.
Free-to-read Unrestricted online access - Summary:
- A robotic system includes a dexterous robot and a controller. The robot includes a plurality of robotic joints, actuators for moving the joints, and sensors for measuring a characteristic of the joints, and for transmitting the characteristics as sensor signals. The controller receives the sensor signals, and is configured for executing instructions from memory, classifying the sensor signals into distinct classes via the state classification module, monitoring a system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the system state. A method for controlling the robot in the above system includes receiving the signals via the controller, classifying the signals using the state classification module, monitoring the present system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the present system state.
- Other Subject(s):
- Collection:
- NASA Technical Reports Server (NTRS) Collection.
- Note:
- Document ID: 20150003273.
- Terms of Use and Reproduction:
- No Copyright.
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