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.
Claims22
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 the object;
- attempting to move the object for a distance;
- and
- detecting force values in attempting to move the object;
- determining, based on the touch data associated with the object, whether the object is movable;
- moving, in response to a determination that the object is movable, the object by the robot from an original location to another location;
- and
- controlling the robot to perform a goal directed action relative to the original location.
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, 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 the robotic arm carrying the touch sensor towards the object;
- attempting to move the object for a distance;
- and
- detecting force values in attempting to move the object;
- and
- a processor in communication with the robotic arm and with the touch sensor;
- and
- memory coupled to the processor, the memory storing instructions, the instructions, when executed by the processor, cause the processor to perform steps comprising:
- determining, based on the touch data associated with the object, whether the object is movable;
- directing, in response to a determination that the object is movable, the robotic arm to move the object from an original location to another location;
- and
- directing the robotic arm to perform a goal directed action relative to the original location.
Dependencies are inferred from the claim text.