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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-12600033-B1, on 14 April 2026. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000000880

Dynamic system controller with online machine learning

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Robotics & Automation › Robot Architectures
Original source
US-12600033-B1, the United States Patent and Trademark Office, 14 April 2026
Document SHA-256
c0e5a9b75c7435bb2d4647027869a8446eb8828bdaa03985c4d39650a9f31bc3

Abstract

A dynamic system controller includes a first error detection unit that determines a first error between a joint state and a joint state target. The joint state describes an actual state of a set of joints in a dynamic body. The set of joints has one or more degrees of freedom that are controlled by a set of actuators. An impedance controller generates an impedance torque or force based on the first error. A first neural network accepts the joint state target and outputs an estimated actuation force. A second error detection unit determines a second error between an actual actuation force applied to the set of joints by the set of actuators at the joint state and a combination of the impedance torque or force and the estimated actuation force. A force controller generates a set of actuation commands based on the second error.

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Citation

OpenTechnical Publication OT-2026-000000880, “Dynamic system controller with online machine learning,” published September 15, 2026 at 19:03:32 UTC, https://opentechnical.org/p/OT-2026-000000880.

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