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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-2026077487-A1, on 19 March 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-2026-000001717

Action abstraction controller for fully actuated robotic manipulators

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Permanent URL
Classification
Robotics & Automation › Robot Architectures
Inventors
CHEN JOSÉ ENRIQUE, FERNANDES MARTINS MURILO, LAURENS ANTOINE MARIN ALIX, NORI FRANCESCO, ROMANO FRANCESCO, SCHOLZ JONATHAN KARL
Assignee
DEEPMIND TECH LTD
Original source
US-2026077487-A1, the United States Patent and Trademark Office, 19 March 2026
Document SHA-256
6220937f99c7d4fe63db29edbea4e6f421228c57cac43880a09612da8b43111d

Abstract

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot manipulator that has a plurality of joints. One of the methods includes obtaining a control input that comprises one or more velocity values that specify a target velocity of a reference point in a given coordinate frame; determining a respective joint velocity for each of the plurality of joints by generating a solution to an optimization problem formulated from the control input; and controlling the robot manipulator, including causing the plurality of joints of the robot manipulator to move in accordance with the respective joint velocities to approximate the control input.

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Citation

OpenTechnical Publication OT-2026-000001717, “Action abstraction controller for fully actuated robotic manipulators,” published September 15, 2026 at 19:07:53 UTC, https://opentechnical.org/p/OT-2026-000001717.

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This record reproduces a document published elsewhere and is provided for reference and study. Rights in the original remain with its owner. See the publication policy.