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Systems for determining location using robots with deformable sensors

A deformation sensor, robot arm technology, applied in the field of robot arms, can solve the problems of falling objects, damaging target objects, etc.

Pending Publication Date: 2021-08-17
TOYOTA RES INST INC +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, the robot may damage the target object by using too much force, or cause the object to fall because it does not grasp the object correctly

Method used

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  • Systems for determining location using robots with deformable sensors
  • Systems for determining location using robots with deformable sensors
  • Systems for determining location using robots with deformable sensors

Examples

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Embodiment Construction

[0027] Embodiments of the present disclosure relate to a robotic arm comprising a plurality of fingers, each finger comprising at least one deformable / compliant contact and / or geometry sensor (hereinafter referred to as a "deformable sensor") that detects the Contact and detect target object geometry, pose and contact force. In particular, the deformable sensors described herein include a deformable membrane coupled to a housing that holds a sensor capable of detecting displacement of the deformable membrane by contact with an object. Thus, the deformable sensors described herein provide a robot (or other device) with a sense of touch when manipulating objects.

[0028] now refer to figure 1 , Figure 2A and Figure 2B , which depicts an illustrative robotic arm 100 having an end effector 110 for manipulating a target object 150 . The robotic arm 100 may serve a specific purpose in pick and drop applications, such as, for example, case picking applications. It should be u...

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Abstract

The invention relates to systems for determining location using robots with deformable sensors. A robot arm assembly for detecting a pose and force associated with an object is provided. The robot arm assembly includes an end effector having a plurality of fingers, and a deformable sensor provided on each finger. The deformable sensor includes a housing, a deformable membrane coupled to the housing, an enclosure filled with a medium, and an internal sensor disposed within the housing having a field of view directed through the medium and toward an internal surface of the deformable membrane. A processor is configured to receive an output from each internal sensor, the output including a contact region of the deformable membrane as a result of contact with the object. The processor determines an amount of displacement of the contact region based on the output from each internal sensor, and determines the pose and the force associated with the object based on the amount of displacement.

Description

[0001] Cross References to Related Applications [0002] This application claims co-pending U.S. Provisional Patent Application No. 62 / 977,468 filed February 17, 2020 for "Robot Arm Assemblies Including Fingers Having A Bubble Sensor" and filed March 2, 2020 for "Bubble Sensor Grippers For Robust Manipulation And Manipuland State Estimation," priority is given to co-pending U.S. Provisional Patent Application No. 62 / 984,083, which is hereby incorporated by reference in its entirety. technical field [0003] Embodiments described herein relate generally to robotic arms with contact sensors, and more particularly to robotic arms with deformable contact and geometry / pose sensors on the fingers of the robotic arm that can detect contact and geometry of objects. Background technique [0004] As humans, our sense of touch allows us to determine the shape of objects without looking at them. Additionally, our sense of touch provides information on how to properly grasp and hold obj...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J19/02
CPCB25J15/00B25J19/02B25J13/082B25J15/0266B25J15/12B25J15/0033
Inventor A·阿尔斯波N·S·库普斯瓦米A·尤塔姆查达尼S·F·克里埃塞伊R·L·泰德拉凯桥本邦光E·C·索贝尔池田琢也
Owner TOYOTA RES INST INC
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