Robotic touch perception
AssigneeAeolus Robotics, Inc.
InventorsJoseph Ellis Augenbraun, Gaurav Rekhi
Life of this patent
Estimating the term…
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.
Claims20
A method for operating a robot using robotic touch perception, the method comprising:
- receiving, at a processor from a touch sensor, touch data associated with an object, the touch data including measurements of force feedbacks received by the touch sensor when forces are applied by the robot to the object, wherein generating the touch data comprises:
- directing a part of the robot carrying the touch sensor towards a surface of the object;
- directing the part carrying the touch sensor to move in two or more directions of travel across the surface while maintaining contact of the touch sensor with the surface;
- and
- detecting force values required to move across the surface in the two or more directions;
- creating, by the processor, a three-dimensional map of touch data characteristics of the object;
- determining a position of the robot in relation with the surface of the object using the three-dimensional map;
- and
- controlling the robot to perform a set of motions in a goal directed action relative to the object according to the touch data characteristics of the object.
A robot comprising:
- a robotic arm;
- a touch sensor carried by the robotic arm, the touch sensor configured to generate touch data associated with an object, processor from a touch sensor, touch data associated with an object, the touch data including measurements of force feedbacks received by the touch sensor when forces are applied by the robot to the object;
- a processor in communication with the robotic arm and with the touch sensor;
- memory coupled to the processor, the memory storing instructions, the instructions, when executed by the processor, cause the processor to perform steps comprising:
- receiving touch data associated with the object, wherein the touch data is generated by:
- directing the robotic arm of the robot carrying the touch sensor towards a surface of the object;
- directing the robotic arm carrying the touch sensor to move in two or more directions of travel across the surface while maintaining contact of the touch sensor with the surface;
- and
- detecting force values required to move across the surface in the two or more directions;
- creating a three-dimensional map of touch data characteristics of the object;
- determining a position of the robotic arm in relation with the surface of the object using the three-dimensional map;
- and
- controlling the robotic arm to perform a set of motions in a goal directed action relative to the object according to the touch data characteristics of the object.
Dependencies are inferred from the claim text.