Robotic manipulator and systems and methods of control
AssigneeHonda Motor Co., Ltd.
InventorsSirui Chen, Rana Soltani Zarrin
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Abstract
Systems and methods for improving dexterous and extrinsic manipulation of robotic manipulators in the presence of uncertain force readings from tactile sensors include a force estimator, a force planner, and a controller. These components employ algorithms that determine a range of safe operating configurations of the manipulator (e.g., positions and/or joint angles of fingers in a robotic hand) that result in stable manipulation of objects, even with the uncertainty of the tactile measurements.
Claims20
A robotic system, comprising:
- a robotic manipulator;
- a plurality of tactile sensors associated to at least one portion of the robotic manipulator;
- one or more processors to:
- receive contact force data from the plurality of tactile sensors;
- receive error information associated with errors in the contact force data;
- determine an estimated force using the contact force data;
- determine a target force using at least the error information;
- and
- use a difference between the estimated force and the target force to change a configuration of the robotic manipulator.
A control system for use with a robotic manipulator having a plurality of tactile sensors and a controller, comprising:
- one or more processors to:
- receive contact force data from the plurality of tactile sensors;
- receive error information associated with errors in the contact force data;
- determine an estimated force using the contact force data;
- determine a target force using at least the error information;
- and
- use a difference between the estimated force and the target force to determine a control signal for the controller.
A method for operating a robotic manipulator having a plurality of tactile sensors, the method comprising:
- receiving contact force data from the plurality of tactile sensors;
- receiving error information associated with errors in the contact force data;
- determining an estimated force using the contact force data;
- determining a target force using at least the error information;
- and
- using a difference between the estimated force and the target force to change a configuration of the robotic manipulator.
Dependencies are inferred from the claim text.