Patent Document ID: 20150005941
Application ID: 13927788
Patent Flag: 0

Claim One:
1. A dynamic predictor system for an articulated linkage providing a system of links connected by joints comprising: an electronic computer executing a stored program held in non-transitory media to: (1) store a system of differential equations describing a rate of change of joint state in each joint as a function of other joint states, the joint states describing positions of the joint, spring forces acting on the joint and momentum in connecting links; (2) receive a first joint state; (3) approximate a second later joint state using a collection of multi-term polynomials corresponding to the differential equations, the polynomials having at least one first term matching the first joint state and multiple later terms related to derivatives of a predicted joint trajectory from the first joint state evaluated at the second joint state; (4) evaluate the multiple polynomial terms by minimizing residuals between corresponding differential equations and multi-term polynomials by performing a series expansion of the residuals; and (5) use the evaluated multi-term polynomials to output a prediction of the second joint state.