Tooltip stabilization
First Claim
1. A computer-implemented method comprising:
- receiving, from a robotic device that includes a sensor and an end effector tool, a location that is estimated for the end effector tool using sensor data that is generated by the sensor included on the robotic device;
receiving, from each of first and second global sensors that are not included on the robotic device, a location that is estimated for the end effector tool using sensor data that is generated by the global sensor;
determining a location for the end effector tool using (i) the location that is estimated for the end effector tool using the sensor data that is generated by the sensor included on the robotic device, (ii) the location that is estimated for the end effector tool using the sensor data that is generated by the first global sensor, and (iii) the location that is estimated for the end effector tool using the sensor data that is generated by the second global sensor; and
providing, to the robotic device, the determined location for the end effector tool.
3 Assignments
0 Petitions
Accused Products
Abstract
Robotic control systems and methods may include providing an end effector tool of a robotic device configured to perform a task on a work surface within a worksite coordinate frame. Unintended movement over time of the end effector tool with respect to the work surface and with respect to the worksite coordinate frame may be determined based on image data indicative of the work surface, first location data indicative of a first location of the end effector tool with respect to the worksite coordinate frame, and second location data indicative of a second location of the end effector tool with respect to the work surface. One or more control signals for the robotic device may be adjusted in order to counteract the unintended movements of the end effector tool with respect to the work surface and worksite coordinate frame.
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Citations
20 Claims
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1. A computer-implemented method comprising:
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receiving, from a robotic device that includes a sensor and an end effector tool, a location that is estimated for the end effector tool using sensor data that is generated by the sensor included on the robotic device; receiving, from each of first and second global sensors that are not included on the robotic device, a location that is estimated for the end effector tool using sensor data that is generated by the global sensor; determining a location for the end effector tool using (i) the location that is estimated for the end effector tool using the sensor data that is generated by the sensor included on the robotic device, (ii) the location that is estimated for the end effector tool using the sensor data that is generated by the first global sensor, and (iii) the location that is estimated for the end effector tool using the sensor data that is generated by the second global sensor; and providing, to the robotic device, the determined location for the end effector tool. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system comprising:
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one or more computers; and a non-transitory computer-readable medium coupled to the one or more computers having instructions stored thereon which, when executed by the one or more computers, cause the one or more computers to perform operations comprising; receiving, from a robotic device that includes a sensor and an end effector tool, a location that is estimated for the end effector tool using sensor data that is generated by the sensor included on the robotic device; receiving, from each of first and second global sensors that are not included on the robotic device, a location that is estimated for the end effector tool using sensor data that is generated by the global sensor; determining a location for the end effector tool using (i) the location that is estimated for the end effector tool using the sensor data that is generated by the sensor included on the robotic device, (ii) the location that is estimated for the end effector tool using the sensor data that is generated by the first global sensor, and (iii) the location that is estimated for the end effector tool using the sensor data that is generated by the second global sensor; and providing, to the robotic device, the determined location for the end effector tool. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A non-transitory computer storage medium encoded with a computer program, the computer program comprising instructions that when executed by one or more processors cause the one or more processors to perform operations comprising:
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receiving, from a robotic device that includes a sensor and an end effector tool, a location that is estimated for the end effector tool using sensor data that is generated by the sensor included on the robotic device; receiving, from each of first and second global sensors that are not included on the robotic device, a location that is estimated for the end effector tool using sensor data that is generated by the global sensor; determining a location for the end effector tool using (i) the location that is estimated for the end effector tool using the sensor data that is generated by the sensor included on the robotic device, (ii) the location that is estimated for the end effector tool using the sensor data that is generated by the first global sensor, and (iii) the location that is estimated for the end effector tool using the sensor data that is generated by the second global sensor; and providing, to the robotic device, the determined location for the end effector tool. - View Dependent Claims (20)
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Specification