Robot Grip Sensor Fusion for Force Estimation Beyond Detection Range
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Solution Overview
Problem
Existing technologies face challenges in accurately detecting values outside the detection range of sensors, which limits their ability to grip objects with varying properties effectively.
Innovation Solution
A control device and robot system that utilize a combination of sensors, including a first sensor with a predetermined detection range and a second sensor with a wider range, to estimate detection values outside the first sensor's range through data acquisition and estimation units, allowing for accurate force and pressure distribution detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a sensor with a wide detection range is used, then values outside the original detection range can be detected, but the detection precision within the original range may be reduced
Solution Approach 1:
The detection range is segmented into multiple zones: a first detection range where the first sensor operates with high precision, and a second detection range where the second sensor operates. This segmentation allows each sensor to be optimized for its specific range, maintaining high precision within the first range while extending the overall detection capability to include the second range.
Solution Approach 2:
The second sensor acts as an intermediary for detecting values in the second detection range that the first sensor cannot detect. The control device mediates between the two sensors by determining which sensor's detection results to use based on whether the measured value falls within the first or second detection range, thereby achieving both high precision and extended range.
2Adaptability or versatility
If multiple sensors are used to cover different detection ranges, then the overall detection range is extended, but the device complexity increases
Solution Approach 1:
The control device is designed with multi-functionality to handle detection results from both the first and second sensors. It universally processes detection data by automatically determining which sensor range applies and selecting the appropriate detection results, thereby managing the complexity of multiple sensors through a unified control approach.
3Adaptability or versatility
If sensor switching is implemented to handle different ranges, then the detection range is effectively extended, but the response time and system reliability are reduced
Solution Approach 1:
The system performs preliminary arrangement by having both the first and second sensors ready simultaneously, with their respective detection ranges pre-defined. The control device is pre-programmed to determine which sensor range applies based on the measured value, eliminating the need for actual switching operations during detection and ensuring continuous, reliable detection without response time delays.
Data Source
AI summary
The present technology relates to an information processing device, an information processing method, a program, and a robot capable of estimate a value outside a detection range of a sensor. A control device of a first aspect of the present technology is a device that acquires detection results of a sensor unit composed of a plurality of sensors including a first sensor having a predetermined detection range, and a second sensor having a range in a detection range thereof in which detection by the first sensor is not possible and estimates a detected value of the first sensor outside the predetermined detection range on the basis of detection results of the second sensor. The present technology can be applied to a device that controls a robot having a hand part capable of gripping an object.