{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-11247332","patent":{"patent_number":"US-11247332","title":"Redundant underactuated robot with multi-mode control framework","assignee":null,"inventors":[],"filing_date":"2020-01-27T00:00:00.000Z","publication_date":"2022-02-15T00:00:00.000Z","cpc_codes":["B25J","B25J","B25J","B25J","B25J","B25J","B25J","B25J","G05B","G05B","G05B","G05B","G05B","G05B","G05B","G05B"],"num_claims":17,"abstract":"A jointed mechanism includes a passive pendulum system attached to and suspended from the multi-axis robot. The system includes one or more position sensors configured to measure a joint angle on the pendulum system, at least one arm, and an end-effector attached to a distal end of the pendulum system. A controller implements a method to selectively control motion of the robot in a plurality of control modes. The control modes include a Cooperative Mode and an Autonomous Mode. The controller is configured to detect contact with the end-effector when operating in the Autonomous Mode, and to automatically initiate a control action in response to the contact. The pendulum system may be a parallelogram arrangement."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Redundant underactuated robot with multi-mode control framework","description":"A jointed mechanism includes a passive pendulum system attached to and suspended from the multi-axis robot. The system includes one or more position sensors configured to measure a joint angle on the ","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-11247332","license":"CC-BY-4.0-like","license_terms":"AI-generated analysis on this page (summary, layman_explanation, technical_analysis, business_analysis, faqs) may be reused with attribution and a visible link back to the canonical URL above. Patent abstracts, claims, and bibliographic data are USPTO public domain.","required_link":"https://patentable.app/patents/US-11247332","citation_suggestion":"Patentable. \"Redundant underactuated robot with multi-mode control framework\" (US-11247332). https://patentable.app/patents/US-11247332","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-11247332","json":"https://patentable.app/api/llm-context/US-11247332","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-05-30T08:28:36.409Z"}