System and method for object shape identification and pose measurement using multi-fingered hand
AssigneeMagna International Inc.
InventorsChinpei Tang, Alexander Zak
Life of this patent
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Abstract
A system and method for identifying a shape and pose of an object is provided. The system includes a controller and a grasping device. The grasping device includes a plurality of fingers that are moveable relative to a base. The fingers include one or more tactile sensors attached thereto. The tactile sensors are configured to collect data, such as a 2D image or 3D point cloud, based on points of contact with the object when the object is grasped. The grasping device is configured to roll the object within the fingers and collect additional data. The controller may combine the data and determine the shape and pose of the object based on the combined data.
Claims20
A system for determining a physical characteristic and pose of an object, the system comprising:
- a controller and a processor with instructions stored thereon;
- a grasping device in communication with the controller, the grasping device configured to grasp an object, wherein the grasping device includes a plurality of fingers attached to a base and the fingers are moveable relative to the base;
- and
- one or more tactile sensors attached to the fingers, the tactile sensors configured to detect first data associated with a physical characteristic of the object when the object is grasped by the grasping device;
- wherein the controller is configured to receive the data from the tactile sensors and to store the data;
- wherein the fingers are configured to roll the object within the fingers while the object is being grasped, and the tactile sensors are configured to provide second data to the controller associated with additional physical characteristics of the object;
- wherein the controller is configured to obtain the second data associated with additional physical characteristics while the fingers are grasping the object and rolling the object;
- and
- wherein the controller is configured to combine the first data and the second data into combined data, and configured to determine a shape and pose of the object from the combined data.
A method for identifying a shape and pose of an object, the method comprising:
- grasping an object with a grasping device, wherein the grasping device includes a plurality of fingers having tactile sensors attached thereto;
- detecting a first physical characteristic at the tactile sensors and collecting a first data corresponding to the first physical characteristic;
- receiving, at a controller, the first data from tactile sensors;
- manipulating the fingers of the grasping device and manipulating the object within the fingers of the grasping device;
- detecting a second physical characteristic at the tactile sensors and collecting a second data corresponding to the second physical characteristic;
- wherein the second physical characteristics and second data are obtained while the object is being grasped and manipulated by the fingers of the grasping device;
- receiving, at the controller, the second data from the tactile sensors;
- combining the first and second data into combined data at the controller;
- and
- at the controller, identifying the shape and pose of the object based on the combined data;
- wherein the all of the first and second data resulting in the combined data is provided by the tactile sensors and without visualization of the object.
Dependencies are inferred from the claim text.