Robot Hand-Over Gripper Control Using Palm Depth Sensing
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Solution Overview
Problem
Robotic systems face challenges in efficiently and intuitively handing over objects to and receiving objects from human actors, as they lack the ability to replicate human-like physical cues and may not provide sufficient control to users during the hand-over process.
Innovation Solution
A robotic device is configured to operate in receive-object and give-object modes, using depth and image sensors to detect the distance and position of objects, allowing it to move its arm and gripper accordingly based on thresholds, and to respond to audible and physical cues from actors, enabling users to control the hand-over process by varying the object's distance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the robotic device operates autonomously without human cues, then automation efficiency is improved, but user control and intuitiveness deteriorate
Solution Approach 1:
The robotic device dynamically switches between autonomous operation mode and cue-responsive operation mode. The control system adjusts its behavior based on detected human cues, allowing the robot to transition from fully autonomous to human-guided operation, thereby balancing automation efficiency with user control needs
Solution Approach 2:
The system incorporates feedback mechanisms where the robotic device detects human cues (audible or physical) and responds by adjusting its operation mode. This feedback loop enables the robot to recognize when human intervention is desired and switch from autonomous to cue-responsive mode, maintaining both automation and user control
2Measurement precision
If the robotic device uses complex sensor systems to detect object distance, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The robotic device uses an intermediary depth sensor that measures distance indirectly through light time-of-flight or phase shift measurements. This intermediary sensing approach provides precise distance measurement without requiring complex mechanical measurement systems, simplifying the overall device structure while maintaining accuracy
Solution Approach 2:
The system replaces complex mechanical distance measurement mechanisms with optical or electromagnetic sensing methods. By using non-contact depth sensors that utilize light properties rather than mechanical probes or rulers, the device achieves precise measurement with simpler overall system architecture
3Productivity
If the robotic arm moves continuously to follow the object, then hand-over efficiency is improved, but safety and predictability deteriorate
Solution Approach 1:
The robotic arm uses periodic scanning or sampling of object position rather than continuous movement. The control system periodically updates the arm position based on detected object location, creating a rhythmic pattern of movement and holding that improves predictability while maintaining hand-over efficiency through timely adjustments
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution allows for a predictable and user-friendly hand-over process, providing actors with control over the robotic device's actions and ensuring safe and efficient transfer of objects by maintaining the robotic device in a fixed position or moving the gripper based on the detected distance, thus enhancing user interaction with robotic systems.
Implementation Method 1
a depth sensor disposed within the palm... receive, from the depth sensor, depth data indicating a distance between the palm and the object
Data Source
AI summary
An example robotic device may include an arm having a palm and fingers, a depth sensor disposed within the palm, and a control system. The control system may be configured to detect an indication to receive an object from an actor, and in response, cause the robotic device to enter a receive-object mode. When the robotic device is in the receive-object mode, the control system is further configured to: receive, from the depth sensor, depth data indicating a distance between the palm and the object; when the distance is greater than a first threshold and less than a second threshold, cause the arm to move towards the object; when the distance exceeds the second threshold, maintain the arm in a fixed position; and when the distance drops below the first threshold, cause the two or more fingers to close to grasp the object.