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公开(公告)号：US11584026B2
公开(公告)日：2023-02-21
申请号：US16909804
申请日：2020-06-23
发明人： Alexander Alspach , Naveen Suresh Kuppuswamy , Avinash Uttamchandani , Samson F. Creasey , Russell L. Tedrake , Kunimatsu Hashimoto , Erik C. Sobel , Takuya Ikeda
摘要： 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.
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公开(公告)号：US11577395B2
公开(公告)日：2023-02-14
申请号：US16931626
申请日：2020-07-17
发明人： Alexander Alspach , Naveen Suresh Kuppuswamy , Avinash Uttamchandani , Samson F. Creasey , Russell L. Tedrake , Kunimatsu Hashimoto , Erik C. Sobel , Takuya Ikeda
摘要： Systems and methods for determining a location of a robot are provided. A method includes receiving, by a processor, a signal from a deformable sensor including data with respect to a deformation region in a deformable membrane of the deformable sensor resulting from contact with a first object. The data associated with contact with the first object is compared, by the processor, to details associated with contact with the first object to information associated with a plurality of objects stored in a database. The first object is identified, by the processor, as a first identified object of the plurality of objects stored in the database. The first identified object is an object of the plurality of objects stored in the database that is most similar to the first object. The location of the robot is determined, by the processor, based on a location of the first identified object.
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公开(公告)号：US11465296B2
公开(公告)日：2022-10-11
申请号：US17243664
申请日：2021-04-29
摘要： Systems and methods for detecting pose and force against an object are provided. A method includes receiving a signal from a deformable sensor comprising data from a deformation region in a deformable membrane resulting from contact with the object utilizing an internal sensor disposed within an enclosure and having a field of view directed through a medium and toward a bottom surface of the deformable membrane. The method also determines a pose of the object based on the deformation region of the deformable membrane. The method also determines an amount of force applied between the deformable membrane and the object is determined based on the deformation region of the deformable membrane.
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公开(公告)号：US20210252709A1
公开(公告)日：2021-08-19
申请号：US16931626
申请日：2020-07-17
发明人： Alexander Alspach , Naveen Suresh Kuppuswamy , Avinash Uttamchandani , Samson F. Creasey , Russell L. Tedrake , Kunimatsu Hashimoto , Erik C. Sobel , Takuya Ikeda
摘要： Systems and methods for determining a location of a robot are provided. A method includes receiving, by a processor, a signal from a deformable sensor including data with respect to a deformation region in a deformable membrane of the deformable sensor resulting from contact with a first object. The data associated with contact with the first object is compared, by the processor, to details associated with contact with the first object to information associated with a plurality of objects stored in a database. The first object is identified, by the processor, as a first identified object of the plurality of objects stored in the database. The first identified object is an object of the plurality of objects stored in the database that is most similar to the first object. The location of the robot is determined, by the processor, based on a location of the first identified object.
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公开(公告)号：US11951633B2
公开(公告)日：2024-04-09
申请号：US18152277
申请日：2023-01-10
发明人： Alexander Alspach , Naveen Suresh Kuppuswamy , Avinash Uttamchandani , Samson F. Creasey , Russell L Tedrake , Kunimatsu Hashimoto , Erik C. Sobel , Takuya Ikeda
CPC分类号： B25J9/1674 , B25J9/0009 , B25J9/161 , B25J9/1664 , B25J13/085 , B25J13/089 , B25J9/1697 , B25J11/0085
摘要： Systems and methods for determining a location of a robot are provided. A method includes receiving, by a processor, a signal from a deformable sensor including data with respect to a deformation region in a deformable membrane of the deformable sensor resulting from contact with a first object. The data associated with contact with the first object is compared, by the processor, to details associated with contact with the first object to information associated with a plurality of objects stored in a database. The first object is identified, by the processor, as a first identified object of the plurality of objects stored in the database. The first identified object is an object of the plurality of objects stored in the database that is most similar to the first object. The location of the robot is determined, by the processor, based on a location of the first identified object.
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公开(公告)号：US11735051B2
公开(公告)日：2023-08-22
申请号：US16833004
申请日：2020-03-27
发明人： Stephen Hughes , Erik C. Sobel , Todd J. Rowell
IPC分类号： G08G1/16 , B60Q9/00 , B60R1/12 , G05D1/00 , G08G1/015 , E05F15/73 , B60K35/00 , G08G1/01 , G08G1/0962 , G05D1/02 , G06V40/10
CPC分类号： G08G1/166 , B60K35/00 , B60Q9/00 , B60R1/12 , E05F15/73 , G05D1/0055 , G05D1/0214 , G06V40/103 , G08G1/015 , G08G1/0112 , G08G1/0116 , G08G1/0962 , G08G1/164 , B60K2370/1529 , B60K2370/193 , B60R2001/1215 , E05F2015/767 , E05Y2400/53 , E05Y2400/818 , E05Y2900/531 , G05D2201/0213
摘要： A method for alerting a driver when a cyclist is detected near an ego vehicle is described. The method includes detecting a presence of an object proximate the ego vehicle. The method also includes identifying the object as the cyclist according to geometric characteristics and/or speed data of the detected object. The method further includes displaying a graphical indication of the cyclist on a passenger side/driver side mirror of the ego vehicle while the cyclist is in a blind spot of the ego vehicle.
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公开(公告)号：US20230150148A1
公开(公告)日：2023-05-18
申请号：US18156113
申请日：2023-01-18
发明人： Alexander Alspach , Naveen Suresh Kuppuswamy , Avinash Uttamchandani , Samson F. Creasey , Russell L. Tedrake , Kunimatsu Hashimoto , Erik C. Sobel , Takuya Ikeda
CPC分类号： B25J15/12 , B25J15/0033
摘要： 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.
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公开(公告)号：US11628576B2
公开(公告)日：2023-04-18
申请号：US17823701
申请日：2022-08-31
摘要： Systems and methods for detecting pose and force against an object are provided. A method includes receiving a signal from a deformable sensor comprising data from a deformation region in a deformable membrane resulting from contact with the object utilizing an internal sensor disposed within an enclosure and having a field of view directed through a medium and toward a bottom surface of the deformable membrane. The method also determines a pose of the object based on the deformation region of the deformable membrane. The method also determines an amount of force applied between the deformable membrane and the object is determined based on the deformation region of the deformable membrane.
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公开(公告)号：US20220410403A1
公开(公告)日：2022-12-29
申请号：US17823701
申请日：2022-08-31
摘要： Systems and methods for detecting pose and force against an object are provided. A method includes receiving a signal from a deformable sensor comprising data from a deformation region in a deformable membrane resulting from contact with the object utilizing an internal sensor disposed within an enclosure and having a field of view directed through a medium and toward a bottom surface of the deformable membrane. The method also determines a pose of the object based on the deformation region of the deformable membrane. The method also determines an amount of force applied between the deformable membrane and the object is determined based on the deformation region of the deformable membrane.
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公开(公告)号：US10549428B2
公开(公告)日：2020-02-04
申请号：US15913603
申请日：2018-03-06
摘要： Robots having varying touch sensitivity are provided. A robot may include a plurality of deformable sensors with differing levels of depth resolution and spatial resolution for detecting a pose and force associated with an object. Each deformable sensor may have an enclosure comprising a deformable membrane, the enclosure configured to be filled with a medium. Each deformable sensor may further include an optical sensor, disposed within the enclosure, having a field of view configured to be directed toward a bottom surface of the deformable membrane. The robot may also include a first portion and a second portion, each comprising at least one deformable sensor of the plurality of deformable sensors.
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