Processing

Please wait...

Settings

Settings

Goto Application

1. WO2021067339 - SYSTEMS AND METHODS FOR DETERMINING POSE OF OBJECTS HELD BY FLEXIBLE END EFFECTORS

Publication Number WO/2021/067339
Publication Date 08.04.2021
International Application No. PCT/US2020/053377
International Filing Date 30.09.2020
IPC
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
CPC
B25J 13/082
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
08by means of sensing devices, e.g. viewing or touching devices
081Touching devices, e.g. pressure-sensitive
082Grasping-force detectors
B25J 13/084
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
08by means of sensing devices, e.g. viewing or touching devices
081Touching devices, e.g. pressure-sensitive
084Tactile sensors
B25J 15/12
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads ; and other end effectors
08having finger members
12with flexible finger members
B25J 9/1612
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1612characterised by the hand, wrist, grip control
B25J 9/1694
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1694characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
G01L 5/228
GPHYSICS
01MEASURING; TESTING
LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
5Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
22for measuring the force applied to control members, e.g. control members of vehicles, triggers
226to manipulators, e.g. the force due to gripping
228using tactile array force sensors
Applicants
  • TOYOTA RESEARCH INSTITUTE, INC. [US]/[US]
Inventors
  • KUPPUSWAMY, Naveen Suresh
  • ALSPACH, Alexander
Agents
  • PISANO, Anthony L.
  • BONNER, Anthony F.
  • BRENTLINGER, Nicolas
  • CHOI, Yongsok
  • ELSWICK, Christopher
  • INGLE, Cory
  • JIVIDEN, William
  • LORENTZ, Joshua A.
  • MOLLOY, Matthew
  • NEAL, Cynthia A.
  • NEIHEISEL, Craig E.
  • RERICHA, Nicholaus R.
  • SCLAFANI, Cesare A.
  • SINGH, Ritu
  • TENT, Brian A.
  • WISECUP, Bryan
  • WALKER, Bryan L.
Priority Data
16/591,01402.10.2019US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) SYSTEMS AND METHODS FOR DETERMINING POSE OF OBJECTS HELD BY FLEXIBLE END EFFECTORS
(FR) SYSTÈMES ET PROCÉDÉS POUR DÉTERMINER LA POSE D'OBJETS MAINTENUS PAR DES EFFECTEURS TERMINAUX FLEXIBLES
Abstract
(EN)
Systems and methods for determining a pose of an object held by a flexible end effector of a robot are disclosed. A method of determining a pose of the object includes receiving tactile data from tactile sensors, receiving curvature data from curvature sensors, determining a plurality of segments of the flexible end effector from the curvature data, assigning a frame to each segment, determining a location of each point of contact between the object and the flexible end effector from the tactile data, calculating a set of relative transformations and determining a location of each point relative to one of the frames, generating continuous data from the determined location of each point, and providing the continuous data to a pose determination algorithm that uses the continuous data to determine the pose of the object.
(FR)
Sont divulgués ici des systèmes et des procédés pour déterminer une pose d'un objet maintenu par un effecteur terminal flexible d'un robot. Un procédé pour déterminer une pose de l'objet comprend : la réception de données tactiles en provenance de capteurs tactiles, la réception données de courbure en provenance de capteurs de courbure, la détermination d'une pluralité de segments de l'effecteur terminal flexible à partir des données de courbure, l'attribution d'un cadre à chaque segment, la détermination d'un emplacement de chaque point de contact entre l'objet et l'effecteur terminal flexible à partir des données tactiles, le calcul d'un ensemble de transformations relatives et la détermination d'un emplacement de chaque point par rapport à l'un des cadres, la génération de données continues à partir de l'emplacement déterminé de chaque point, et la fourniture des données continues à un algorithme de détermination de pose qui utilise les données continues pour déterminer la pose de l'objet.
Also published as
Latest bibliographic data on file with the International Bureau