US 12,220,818 B2
Singularity-free kinematic parameterization of soft robot manipulators
Mehran Ebrahimi, Toronto (CA); Hyunmin Cheong, Toronto (CA); and Adrian Butscher, Toronto (CA)
Assigned to AUTODESK, INC., San Francisco, CA (US)
Filed by AUTODESK, INC., San Francisco, CA (US)
Filed on May 13, 2021, as Appl. No. 17/319,502.
Claims priority of provisional application 63/087,839, filed on Oct. 5, 2020.
Prior Publication US 2022/0105627 A1, Apr. 7, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 18/00 (2006.01); B25J 18/06 (2006.01)
CPC B25J 9/1635 (2013.01) [B25J 9/1607 (2013.01); B25J 9/163 (2013.01); B25J 9/1633 (2013.01); B25J 9/1653 (2013.01); B25J 9/1666 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A computer-implemented method for controlling a robot, the method comprising:
determining a first value for a first joint parameter associated with a first continuum joint included in the robot and a first value for a second joint parameter associated with the first continuum joint based on a final target location of an end portion of the robot, wherein the first joint parameter indicates a bending radius of a flexible portion of the first continuum joint, and the second joint parameter indicates a rotation of the flexible portion of the first continuum joint with respect to a base portion of the first continuum joint, wherein determining the first value for the first joint parameter and the first value for the second joint parameter is further based on a second value for the first joint parameter and a second value for the second joint parameter that indicate an intermediate location and an intermediate orientation of the end portion; and
positioning the end portion of the robot at the final target location based on the first value of the first joint parameter and the first value of the second joint parameter.