Robotic Touch Perception
AssigneeAeolus Robotics, Inc.
InventorsJoseph Ellis Augenbraun, Gaurav Rekhi
Life of this patent
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Abstract
An apparatus such as a robot capable of performing goal oriented tasks may include one or more touch sensors to receive touch perception feedback on the location of objects and structures within an environment. A fusion engine may be configured to combine touch perception data with other types of sensor data such as data received from an image or distance sensor. The apparatus may combine distance sensor data with touch sensor data using inference models such as Bayesian inference. The touch sensor may be mounted onto an adjustable arm of a robot. The apparatus may use the data it has received from both a touch sensor and distance sensor to build a map of its environment and perform goal oriented tasks such as cleaning or moving objects.
Claims22
A method for completing a goal directed action with a robot apparatus using robotic touch perception, the method comprising:
- receiving, at a processor, distance data from a distance sensor, the distance data including measurements of distances between the robot apparatus and objects in an environment;
- receiving, at the processor, touch data from a touch sensor, the touch data including measurements of results of the robot apparatus contacting the objects;
- creating, by the processor, maps of the environment by combining the distance data and touch data, the maps representing positions of the objects in the environment, wherein one map of the maps is associated with a pose of the robot apparatus, the pose determined by:
- determining a set of candidate poses using the distance data and the touch data associated with the one map, each candidate pose associated with a likelihood that, under the candidate pose, the distance data related to an obstacle in the environment is consistent with the one map, and
- selecting the candidate pose associated with the highest likelihood as the pose of the robot apparatus;
- and
- controlling, by the processor, the robot apparatus to complete the goal directed action using the maps, comprising:
- determining, based on the pose, a position of the robot apparatus in relation with an object of the objects, and
- controlling the robot apparatus to perform a set of motions towards the object.
A robot apparatus for completing goal directed actions, the apparatus comprising:
- a power source;
- a body;
- an arm operably connected to the body with said arm having a first touch sensor configured to generate touch data, the touch data including measurements of results of the robot apparatus contacting objects in an environment;
- a distance sensor configured to generate distance data, the distance data including measurements of distances between the robot apparatus and the objects;
- a processor configured to execute one or more instructions, the instructions, when executed by the processor, cause the processor to:
- create maps of the environment by combining the touch data and the distance data, the maps representing positions of the objects in the environment, wherein one map of the maps is associated with a pose of the robot apparatus, the pose determined by:
- determining a set of candidate poses using the distance data and the touch data associated with the one map, each candidate pose associated with a likelihood that, under the candidate pose, the distance data related to an obstacle in the environment is consistent with the one map, and
- selecting the candidate pose associated with the highest likelihood as the pose of the robot apparatus, and
- determine, based on the pose, a position of the robot apparatus in relation with an object of the objects, and
- control the arm to perform a set of motions towards the object.
Dependencies are inferred from the claim text.