{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9701013","patent":{"patent_number":"US-9701013","title":"Method for controlling a deformable robot, and related module and computer program","assignee":null,"inventors":[],"filing_date":"2014-02-04T00:00:00.000Z","publication_date":"2017-07-11T00:00:00.000Z","cpc_codes":["B25J","B25J","B25J","B25J","B25J","B25J","G06F","G05B","G05B","G05B"],"num_claims":13,"abstract":"The invention relates to a method for controlling a robot (1) defined by a node model and deformable by means of actuators (2). Effector points of the robot must follow a predetermined path. A matrix K defines a change in the inner forces of the robot in each node, on the basis of the change in position of the nodes. Said method includes: updating the K values on the basis of the current position of the nodes of the robot; determining the Jacobian matrix J of the vector δ(x), x being a vector of the position of the nodes and the vector δ(x) comprising respective lines which indicate the coordinates of the gaps between the position of each effector point and the predetermined path thereof, and the movement of each actuator; calculating the values of the matrix W=J·K−1·JT; and solving the equation δ=W·λ+δ0 and controlling the robot on the basis of said resolution."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Method for controlling a deformable robot, and related module and computer program","description":"The invention relates to a method for controlling a robot (1) defined by a node model and deformable by means of actuators (2). Effector points of the robot must follow a predetermined path. A matrix ","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9701013","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-9701013","citation_suggestion":"Patentable. \"Method for controlling a deformable robot, and related module and computer program\" (US-9701013). https://patentable.app/patents/US-9701013","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9701013","json":"https://patentable.app/api/llm-context/US-9701013","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T10:15:16.677Z"}