公开(公告)号：US20240278423A1

公开(公告)日：2024-08-22

申请号：US18613576

申请日：2024-03-22

申请人： The Trustees of Columbia University in the City of New York

发明人： Matei Ciocarlie ,  Gagan Khandate ,  Maximilian Haas-Heger

IPC分类号： B25J9/16 ,  B25J15/00

CPC分类号： B25J9/163 ,  B25J9/1612 ,  B25J9/1671 ,  B25J15/0009

摘要： A system for generating a model-free reinforcement learning policy for a robotic hand for grasping an object is provided, including a processor; a memory; and a simulator implemented via the processor and the memory, performing: sampling a plurality of stable grasps relevant to reorienting the grasped object about a desired axis of rotation and using stable grasps as initial states for collecting training trajectories; learning finger-gaiting and finger-grasping policies for each axis of rotation in the hand coordinate frame based on proprioceptive sensing in the robotic hand, wherein the finger-gaiting and finger-pivoting policy is implemented on the robotic hand.

公开(公告)号：US10663361B2

公开(公告)日：2020-05-26

申请号：US15782303

申请日：2017-10-12

申请人： THE TRUSTEES OF COLUMBIA UNIVERSITY IN THE CITY OF NEW YORK

发明人： Matei Ciocarlie ,  Pedro Piacenza ,  Ioannis Kymissis

IPC分类号： G01L1/24 ,  G06F3/042 ,  G01L5/16 ,  H01L27/146 ,  H01L31/18 ,  H01L31/14 ,  G01L9/00 ,  G01L5/166

摘要： Achieving high spatial resolution in contact sensing for robotic manipulation often comes at the price of increased complexity in fabrication and integration. One traditional approach is to fabricate a large number of taxels, each delivering an individual, isolated response to a stimulus. The proposed sensors include a continuous volume of soft material, e.g., a transparent polymer, and light emitting diodes configured to emit light into the transparent volume that can be received by photodetectors. The location and depth of indentations can be measured between all pairs of light emitting diodes and photodetectors in the set, and this rich signal set can contain the information needed to pinpoint contact location with high accuracy using regression algorithms.

公开(公告)号：US10107612B2

公开(公告)日：2018-10-23

申请号：US15474080

申请日：2017-03-30

申请人： THE TRUSTEES OF COLUMBIA UNIVERSITY IN THE CITY OF NEW YORK

发明人： Matei Ciocarlie ,  Ioannis Kymissis ,  Pedro Piacenza ,  Steve Jeung Hoon Park

IPC分类号： G01B7/16 ,  H01C10/10 ,  H01C1/14 ,  B25J13/08 ,  G01L1/18

摘要： Achieving high spatial resolution in contact sensing for robotic manipulation often comes at the price of increased complexity in fabrication and integration. One traditional approach is to fabricate a large number of taxels, each delivering an individual, isolated response to a stimulus. In contrast, proposed sensor includes a continuous volume of soft material, e.g., a piezoresistive elastomer with a number of terminals embedded inside. Piezoresistive effects can be measured between all pairs of terminals in the set, and this rich signal set can contain the information needed to pinpoint contact location with high accuracy using regression algorithms. Submillimeter median accuracy can be demonstrated in locating contact on a 10 mm by 16 mm sensor using only four terminals (creating six unique pairs). In addition to extracting more information from fewer wires, this approach lends itself to simple fabrication methods and makes no assumptions about the underlying geometry, simplifying future integration on robot fingers.