Systems and methods for calibrating robot actuators using image data
OwnerKyle W. Rogersinventor
Life of this patent
Estimating the term…
Abstract
Method and apparatus for calibrating actuators of a robot using image data are provided. Image data is received from at least one sensor when a robot is in a pose, where a joint of the robot represented in the image data has an expected joint position when the robot is in the pose. Based on the image data, an actual joint position of the joint when the robot is in the pose is determined. When it is determined that the actual joint position of the joint is different from the expected joint position of the first joint, an encoder of an actuator associated with the joint is configured based, at least in part, on the actual joint position of the joint.
Claims26
A method comprising:
- receiving first image data from at least one sensor when a robot is in a first pose, wherein a first joint of the robot represented in the first image data has an expected joint position when the robot is in the first pose;
- determining, based on the first image data, an actual joint position of the first joint when the robot is in the first pose;
- and
- configuring a first encoder of a first actuator associated with the first joint based, at least in part, on the actual joint position of the first joint when it is determined that the actual joint position of the first joint is different from the expected joint position of the first joint.
6-7. (canceled)
10-11. (canceled)
(canceled)
22-23. (canceled)
A robot comprising:
- a set of members;
- a set of joints coupling the set of members;
- and
- a controller configured to:
- receive first image data from at least one sensor when the robot is in a first pose, wherein a first joint of the set of joints represented in the first image data has an expected joint position when the robot is in the first pose;
- determine, based on the first image data, an actual joint position of the first joint when the robot is in the first pose;
- and
- configure a first encoder of a first actuator associated with the first joint based, at least in part, on the actual joint position of the first joint when it is determined that the actual joint position of the first joint is different from the expected joint position of the first joint.
27-50. (canceled)
A controller for a robot, the controller configured to:
- receive first image data from at least one sensor when the robot is in a first pose, wherein a first joint of the robot is represented in the first image data has an expected joint position when the robot is in the first pose;
- determine, based on the first image data, an actual joint position of the first joint when the robot is in the first pose;
- and
- configure a first encoder of a first actuator associated with the first joint based, at least in part, on the actual joint position of the first joint when it is determined that the actual joint position of the first joint is different from the expected joint position of the first joint.
52-75. (canceled)
Dependencies are inferred from the claim text.