Sistemas y métodos de manipulación/control de robots. En muchos escenarios, los datos recopilados por un sensor (conectado a un robot) pueden no tener una precisión muy alta (por ejemplo, un sensor comercial/económico habitual) o pueden estar sujetos a cambios ambientales dinámicos. Por lo tanto, los datos recopilados por el sensor pueden no indicar el parámetro capturado por el sensor con alta precisión. El presente sistema de control robótico está dirigido a tales escenarios. En algunas realizaciones, las realizaciones divulgadas se pueden utilizar para calcular un límite de velocidad deslizante para un controlador espacial. En algunas realizaciones, las realizaciones divulgadas se pueden utilizar para la teleoperación de un vehículo ubicado en el campo de visión de una cámara. (Traducción automática con Google Translate, sin valor legal)

    A method of detecting an intent of spatial control of a vehicle involves receiving spatial motion data representative of a desired motion of at least a portion of a vehicle that is generated from a gesture with respect to a global reference frame. An initial desired velocity representing a desired linear velocity or a desired angular velocity of at least the portion of the vehicle is computed from the spatial motion data. The initial desired velocity is transformed from the global reference frame into a control reference frame. A nearest principal axis direction is identified based on comparing a direction of the initial desired velocity with a set of principal axis directions. A misalignment angle that represents a deviation in direction of the initial desired velocity from the nearest principal axis direction is calculated. Upon determining that the misalignment angle is less than or equal to an axis-snapping tolerance value, a final desired velocity is defined by rotating the initial desired velocity such that the final desired velocity is parallel to the nearest principal axis direction.


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    Title :

    SPATIAL TELEOPERATION OF LEGGED VEHICLES


    Contributors:

    Publication date :

    2025-02-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Spanish


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62D MOTOR VEHICLES , Motorfahrzeuge / F41H Panzerung , ARMOUR / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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