CONTROL OF ACTUATORS IN A ROBOT

摘要

A device and methods for controlling a robot with a plurality of binary and/or discrete actuators. A controller receives a setpoint command for an end effector of the robot, obtains a current state of the robot and sends an actuator command that causes a group of at least one actuator from the plurality of actuators to be activated for reducing the distance between the current state and the setpoint. The controller may further obtain a plurality of influence vectors, each of the influence vectors indicating an expected effect on the robot from activation of a corresponding actuator. The controller may then determine the group of actuator to be activated by identifying at least one corresponding influence vector from the plurality of influence vectors for which the corresponding expected effect reduces the distance between the current state and the setpoint.