{
  "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.",
  "assignees": [
    "DEEPMIND TECH LTD"
  ],
  "authors": [
    "CHEN JOSÉ ENRIQUE",
    "FERNANDES MARTINS MURILO",
    "LAURENS ANTOINE MARIN ALIX",
    "NORI FRANCESCO",
    "ROMANO FRANCESCO",
    "SCHOLZ JONATHAN KARL"
  ],
  "canonical_url": "https://opentechnical.org/p/OT-2026-000001717",
  "categories": [
    "robotics-automation/robot-architectures"
  ],
  "extent": {
    "figures": 0,
    "paragraphs": 0,
    "words": 107
  },
  "figures": [],
  "files": [
    {
      "bytes": 9925,
      "media_type": "text/html; charset=utf-8",
      "name": "index.html",
      "sha256": "47a8d0187ebc4e07f47826f8793bc03d16f32237111ce630c24cbc1ead8a27b0"
    },
    {
      "bytes": 1192,
      "media_type": "text/markdown; charset=utf-8",
      "name": "publication.md",
      "sha256": "c019313efe6f34f11bb2a265b7c49e820388fa5d10eade107a3f0a4d909cb6ff"
    },
    {
      "bytes": 1264,
      "media_type": "text/plain; charset=utf-8",
      "name": "publication.txt",
      "sha256": "6220937f99c7d4fe63db29edbea4e6f421228c57cac43880a09612da8b43111d"
    }
  ],
  "integrity": {
    "hash_algorithm": "sha256",
    "keys_url": "https://opentechnical.org/integrity/keys",
    "record_url": "https://opentechnical.org/p/OT-2026-000001717/integrity",
    "signature_algorithm": "Ed25519",
    "signature_file": "manifest.sig",
    "verify_url": "https://opentechnical.org/integrity/verify"
  },
  "keywords": [
    "b25j9/1612",
    "b25j9/1612",
    "b25j9/1612",
    "b25j15/00",
    "b25j15/0009",
    "b25j15/0009"
  ],
  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
    "url": "https://creativecommons.org/licenses/by/4.0/"
  },
  "publication_id": "OT-2026-000001717",
  "published_at": "2026-09-15T19:07:53.929108Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "record",
  "schema": "opentechnical-publication-manifest/1.0",
  "source_date": "2026-03-19",
  "source_id": "US-2026077487-A1",
  "source_name": "the United States Patent and Trademark Office",
  "source_url": "https://patents.google.com/patent/US2026077487A1",
  "supersedes": null,
  "title": "Action abstraction controller for fully actuated robotic manipulators",
  "uuid": "01a0a677-f2c8-7a5b-a88e-9ebf425969c0"
}