Inventors list |
Assignees list |
Classification tree browser |
Top 100 Inventors |
Top 100 Assignees |
THE U.S.A AS REPRESENTED BY THE ADMINISTRATOR OF THE NATIONAL AERONAUTICS & SPACE ADMINISTRATION
Washington, DC US
| THE U.S.A AS REPRESENTED BY THE ADMINISTRATOR OF THE NATIONAL AERONAUTICS & SPACE ADMINISTRATION Patent applications | ||
| Patent application number | Title | Published |
|---|---|---|
| 20100161127 | MULTIPLE PRIORITY OPERATIONAL SPACE IMPEDANCE CONTROL - A system and method for providing multiple priority impedance control for a robot manipulator where impedance laws are realized simultaneously and with a given order of priority. The method includes a control scheme for realizing a Cartesian space impedance objective as a first priority while also realizing a joint space impedance objective as a second priority. The method also includes a control scheme for realizing two Cartesian space impedance objectives with different levels of priority. The method includes instances of the control schemes that use feedback from force sensors mounted at an end-effector and other instances of the control schemes that do not use this feedback. | 06-24-2010 |
| 20100116079 | BIDIRECTIONAL TENDON TERMINATOR - A bidirectional tendon terminator that has particular application for terminating a tendon that actuates a finger in a robotic arm. The tendon terminator includes a cylindrical member having an internal channel through which a single continuous piece of the tendon extends. The internal channel of the tendon terminator includes a widened portion. A ball is placed in the tendon strands, which causes the tendon to expand, and the ball is positioned within the widened portion of the channel. Pulling on the tendon operates to either open or close the finger of the robotic arm depending on which direction the tendon is pulled. In one specific embodiment, the cylinder includes two cylindrical pieces that are coupled together so that the ball can be positioned within the channel and the cylindrical member has an entire circumference of material. | 05-13-2010 |