Arjang M. Hourtash,Samuel Kwok Wai Au,Raymond A. Bonneau,Nicola Diolaiti,Pushkar Hingwe,Amy E. Kerdok,Michael Turner
申请号：
US15003556
公开号：
US09861447B2
申请日:
2016.01.21
申请国别(地区):
US
年份:
2018
代理人:
摘要：
Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.
