Modular robotic manipulation
First Claim
1. A system for controlling contact between two objects, comprising:
- a plurality of sensors including a plurality of ultra-wide band (UWB) transceivers and a contact sensor wherein the plurality of UWB transceivers creates a relative coordinate for a first object and a second object and wherein the relative coordinate provides positional and translational information about the first object and the second object including error associated with the relative coordinate and wherein the contact sensor detects physical contact between the first object and a surface of the second object; and
a processor configured to execute instructions and communicatively coupled to the plurality of sensors and to a non-transitory memory storing modules of instructions, includingan initial manipulation module wherein the initial manipulation module selects a deliberative behavior to orient the first object with the second object based on the relative coordinate and the error associated with the relative coordinate awareness of the environment,a range control module wherein the range control module modifies the deliberate behavior based on the relative coordinate and the error associated with the relative coordinate awareness and orientation of the first object with respect to the second object to initiate contact between the first object and the second object,a proprioception module operable to measure normal force disparities using data from the sensor between the surface and device motion actuators and modify the deliberate behavior based on normal force disparities, andan exteroception module operable to measure translational resistance disparities using data from the sensor between relative motion of the surface and the device and modify the deliberate behavior based on translational resistance disparities and wherein the proprioception module and the exteroception module control contact between the first object and the second object so as to maintain contact with a predetermined normal force and a predetermined translational resistance.
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Accused Products
Abstract
A system for interaction with a the environment includes an initial manipulation module operable to orient a device in a general direction of a surface of an object and a range control module operable to converge the device and the surface. Once the device and surface are in the proximity of each other a contact sensor detects when physical contact between the surface and the device occurs. Thereafter, a proprioception module measures normal force disparities between the surface and device motion actuators and finally, an exteroception module to measure translational resistance disparities between relative motion of the surface and the device. The system uses these disparity measurements and actuator positions to modify the manipulation of the device.
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Citations
18 Claims
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1. A system for controlling contact between two objects, comprising:
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a plurality of sensors including a plurality of ultra-wide band (UWB) transceivers and a contact sensor wherein the plurality of UWB transceivers creates a relative coordinate for a first object and a second object and wherein the relative coordinate provides positional and translational information about the first object and the second object including error associated with the relative coordinate and wherein the contact sensor detects physical contact between the first object and a surface of the second object; and a processor configured to execute instructions and communicatively coupled to the plurality of sensors and to a non-transitory memory storing modules of instructions, including an initial manipulation module wherein the initial manipulation module selects a deliberative behavior to orient the first object with the second object based on the relative coordinate and the error associated with the relative coordinate awareness of the environment, a range control module wherein the range control module modifies the deliberate behavior based on the relative coordinate and the error associated with the relative coordinate awareness and orientation of the first object with respect to the second object to initiate contact between the first object and the second object, a proprioception module operable to measure normal force disparities using data from the sensor between the surface and device motion actuators and modify the deliberate behavior based on normal force disparities, and an exteroception module operable to measure translational resistance disparities using data from the sensor between relative motion of the surface and the device and modify the deliberate behavior based on translational resistance disparities and wherein the proprioception module and the exteroception module control contact between the first object and the second object so as to maintain contact with a predetermined normal force and a predetermined translational resistance. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for establishing contact between two objects, comprising:
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a first object wherein the first object includes a first surface and one or more ultra-wide band (UWB) transceivers; and a second object, in proximity of the first object, wherein the second object includes a second surface, a contact sensor, at least two ultra-wide band (UWB) transceivers, and a processor configured to execute a plurality of code of instructions, said code of instructions including, code for analyzing a signal received from the one or more UWB transceivers by the at least two UWB transceivers to determine a relative position of the first object with respect to the second object and a relative position error, code to select a deliberative behavior to orient the second surface of the second object towards the first object based on the relative position of the first object with respect to the second object and the relative position error, code to initiate contact between the first surface of the first object and the second surface of the second object, responsive to the contact sensor sensing contact, code to determine a normal force and a translational resistance between the first surface and the second surface and error associated with the normal force and translational resistance, and code to select a reactive behavior to maintain contact between the first surface and the second surface based on a predetermined normal force and a predetermined translational resistance and the error associated with the normal force and translational resistance. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
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Specification