US 11,999,061 B2 · Method and system for autonomous object manipulation

Abstract

A system, method, and apparatus for a robot system that manipulates the surface of an object effect programmed manipulation goals such as reaching specific locations on the surface of the object, displacing the surface of the object, applying a predetermined force and torque to the surface of the object, dynamically changing the contact point between the robot and the object, and applying force to structures below the surface of the object. The system and method determine the state of the object through a sensing method that includes, without limitation: torque and force measurement, visible light sensors, range and depth sensors, ultrasound sensors, thermographic sensors, and worktable force measurement.

Claims7

Dependent claims

A method, comprising:

controlling, via a processor and during a first time period, a movement of a robot manipulator relative to a first contact frame associated with a first robot goal, wherein the first contact frame is generated based at least in part on an object reference frame associated with a surface of a contact object;
and
controlling, via the processor and during a second time period after the first time period, the movement of the robot manipulator relative to a second contact frame different from the first contact frame, the second contact frame associated with a second robot goal different from the first robot goal,
each of the first robot goal and the second robot goal specifying at least one of a position or a force.

1 more element

Dependencies are inferred from the claim text.

Facts

Application

17/319,062Filed 12 May 2021 · us provisional application

Priority

12 May 2020

Published

US 2022/0388165 A18 Dec 2022

Granted

4 Jun 2024

Term ends

Not estimatedThe source records don’t support an estimate.

Classification9 codes

B25J 9/1633
Characterised by the control loop: compliant, force, torque control, e.g. combined with position control
A61B 34/30
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical robots
B25J 9/106
Characterised by positioning means for manipulator elements: with articulated links
B25J 9/1664
Characterised by programming, planning systems for manipulators: characterised by motion, path, trajectory planning

Method and system for autonomous object manipulation

Life of this patent

Method and system for autonomous object manipulation

Life of this patent

Abstract

Claims7