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US 12,564,953 B2Granted
Learning physical features from tactile robotic exploration
AssigneeMassachusetts Institute of Technology
InventorsEdward Adelson, Branden Romero, Filipe Fernandes Veiga, Shaoxiong Wang, Chen Wang
Life of this patent
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Abstract
Physical features of an object from tactile robotic exploration, including by manipulation of the object with an effector having a tactile sensor that provides measurements representative of physical interaction of the effector and the object. This exploration may include performing a predetermined set of manipulations of the object using the effector. Measurements made during the manipulations are used to form a data representation of physical characteristics of the object, and this data representation is used to control further motion of the object.
Claims27
A method for operating a robot, the method comprising:
- causing the robot to grasp an object with an effector, the effector including a tactile sensor providing measurements representative of physical interaction of the effector and the object;
- causing the robot to perform a set of manipulations of the object using the effector;
- acquiring measurements from the tactile sensor during said manipulations;
- forming a data representation of physical characteristics of the object from the acquired measurements;
- and
- controlling a further motion of the object according to the data representation of the physical characteristics and a characteristic of a desired motion of the object,
- wherein
- causing the robot to perform the set of manipulations of the object comprises causing a set of dynamic manipulations of said object,
- acquiring the measurements from the tactile sensor during said manipulations comprises acquiring dynamic measurements based at least in part on kinematic properties of said object, and
- forming the data representation of the physical characteristics of the object comprises forming said representation to encode the kinematic properties of said object.
7 more elements
A machine-implemented controller for a robot configured to implement all the steps of:
- causing the robot to grasp an object with an effector, the effector including a tactile sensor providing measurements representative of physical interaction of the effector and the object;
- causing the robot to perform a set of manipulations of the object using the effector;
- acquiring measurements from the tactile sensor during said manipulations;
- forming a data representation of physical characteristics of the object from the acquired measurements;
- and
- controlling a further motion of the object according to the data representation of the physical characteristics and a characteristic of a desired motion of the object
- wherein
- causing the robot to perform the set of manipulations of the object comprises causing a set of dynamic manipulations of said object,
- acquiring the measurements from the tactile sensor during said manipulations comprises acquiring dynamic measurements based at least in part on kinematic properties of said object, and
- forming the data representation of the physical characteristics of the object comprises forming said representation to encode the kinematic properties of said object.
7 more elements
A non-transitory machine-readable medium comprising instructions stored thereon, wherein the instructions when executed by a machine-implemented controller cause the controller to perform all the steps of:
- causing the robot to grasp an object with an effector, the effector including a tactile sensor providing measurements representative of physical interaction of the effector and the object;
- causing the robot to perform a set of manipulations of the object using the effector;
- acquiring measurements from the tactile sensor during said manipulations;
- forming a data representation of physical characteristics of the object from the acquired measurements;
- and
- controlling a further motion of the object according to the data representation of the physical characteristics and a characteristic of a desired motion of the object
- wherein
- causing the robot to perform the set of manipulations of the object comprises causing a set of dynamic manipulations of said object,
- acquiring the measurements from the tactile sensor during said manipulations comprises acquiring dynamic measurements based at least in part on kinematic properties of said object, and
- forming the data representation of the physical characteristics of the object comprises forming said representation to encode the kinematic properties of said object.
7 more elements
A robot comprising:
- an effector having a tactile sensor for providing measurements representative of physical interaction of the effector and objects grasped by the effector;
- a controller configured to implement all the steps of:
- causing the robot to grasp an object with the effector, including causing the tactile sensor to provide measurements representative of physical interaction of the effector and the object;
- causing the robot to perform a set of manipulations of the object using the effector;
- acquiring measurements from the tactile sensor during said manipulations;
- forming a data representation of physical characteristics of the object from the acquired measurements;
- and
- controlling a further motion of the object according to the data representation of the physical characteristics and a characteristic of a desired motion of the object
- wherein
- causing the robot to perform the set of manipulations of the object comprises causing a set of dynamic manipulations of said object,
- acquiring the measurements from the tactile sensor during said manipulations comprises acquiring dynamic measurements based at least in part on kinematic properties of said object, and
- forming the data representation of the physical characteristics of the object comprises forming said representation to encode the kinematic properties of said object.
9 more elements
A method for operating a robot, the method comprising:
- causing the robot to grasp an object with an effector, the effector including a tactile sensor providing measurements representative of physical interaction of the effector and the object;
- causing the robot to perform a set of manipulations of the object using the effector;
- acquiring measurements from the tactile sensor during said manipulations;
- forming a data representation of physical characteristics of the object from the acquired measurements;
- and
- controlling a further motion of the object according to the data representation of the physical characteristics and a characteristic of a desired motion of the object,
- wherein
- causing the robot to grasp the object comprises causing the robot to grasp an elongated object extending beyond the effector, and
- acquiring the measurements from the tactile sensor during the manipulations comprises acquiring measurements dependent on mass distribution of the elongated object.
6 more elements
Dependencies are inferred from the claim text.