ROBOTIC MANIPULATION METHODS AND SYSTEMS FOR EXECUTING A DOMAIN-SPECIFIC APPLICATION IN AN INSTRUMENTED ENVIRONMENT WITH ELECTRONIC MINIMANIPULATION LIBRARIES

摘要

Embodiments of the present disclosure provide complex robotic humanoid movements, actions, and tools and It targets technical features that relate to the ability to create interactions with the environment. Primitives are defined by motion/action of associated degrees of freedom ranging from simple to complex in complexity, and can be combined in any form in series/parallel fashion. These motion primitives are called micromanipulations, and each has a distinct time indexed command input structure, and an output behavior/performance profile, intended to achieve a given function. Micromanipulation involves a novel way of creating a programmable platform on a common example basis for humanoid robots. One or more micromanipulation electronic libraries provide a large suite of higher-level sensing and execution sequences that are common building blocks for complex tasks such as cooking, caring for the sick, or other tasks performed by next-generation humanoid robots. do.