Modular robotic manipulation

• US 9,195,911 B2
• Filed: 08/29/2012
• Issued: 11/24/2015
• Est. Priority Date: 08/30/2011
• Status: Active Grant

• Current Assignee: Humatics Corporation
• Original Assignee: 5D Robotics, Inc. (Humatics Corporation)
• Inventors: Bruemmer, David J.
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): NGUYEN, ROBERT T
• Application Number:
  US13/597,991
• Publication Number:
  US 20130050121A1
• Time in Patent Office: 1,182 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/08 characterised by modular constructions
• CPC Class Codes: B25J 9/1602 characterised by the control system, structure, architecture
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: B25J 9/1633 compliant, force, torque control, e.g. combined with position control
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1684 Tracking a line or surface by means of sensors
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G06F 18/256 of results relating to different input data, e.g. multimodal recognition
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06T 11/206 Drawing of charts or graphs
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/10 Sensor physically contacts and follows work contour

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.

Claims

1. A method for touch based surface interaction, the method comprising:

orienting a device with respect to a surface;

converging the device to the surface;

measuring a normal force between the device and the surface;

measuring a translational resistive force between the device and the surface; and

controlling lateral motion of the device to maintain a predetermined normal force and a predetermined translational resistive force.

2. The method for touch based surface interaction according to claim 1, further comprising controlling the normal force and the translational resistive force according to a reactive impedance based behavior.

3. The method for touch based surface interaction according to claim 1, wherein orienting includes forming global coordinates of the surface relative to the device.

4. The method for touch based surface interaction according to claim 1, wherein orienting employs inverse kinematics.

5. The method for touch based surface interaction according to claim 1, further comprising receiving visual feedback from a sensor and wherein orienting includes aligning the device to the surface within a visual field by reducing angular errors between the device and the surface.

6. The method for touch based surface interaction according to claim 1, further comprising receiving visual feedback from a sensor and wherein converging includes determining relative range between the device and the surface using changes in optical flow.

7. The method for touch based surface interaction according to claim 1, wherein converging includes determining a perceived perpendicular distance between the device and the surface from a vector scan of the surface.

8. The method for touch based surface interaction according to claim 1, wherein converging includes using a range sensor to determine a perceived perpendicular distance between the device and the surface.

9. A method for controlling device interaction with a surface, the method comprising:

establishing physical contact between a device and the surface;

determining a normal force between the device and the surface;

determining a force required to translate the device across the surface; and

maintaining a predetermined normal force and a predetermined resistance force as the device translates across the surface.

10. The method for controlling device interaction with a surface of claim 9, wherein the normal force and the resistance force are independently modifiable.

11. The method for controlling device interaction with a surface of claim 9, further visual feedback from a sensor and wherein establishing includes reducing a distance between the device and the surface by measuring changes in observed optical flow.

12. The method for controlling device interaction with a surface of claim 9, wherein a distance between the device and the surface is perceived by a range sensor located on the device.

13. The method for controlling device interaction with a surface of claim 9, wherein maintaining the normal force includes measuring disparities between an expected normal force and an actual normal force.

14. The method for controlling device interaction with a surface of claim 9, wherein maintaining the resistance force includes measuring disparities between an expected velocity of the device over the surface to actual velocity of the device over the surface.

15. The method for controlling device interaction with a surface of claim 9, wherein calculations for determining disparities in the normal force is independent from calculations for determining disparities in the resistance force.

16. A non-transitory computer-readable storage medium tangibly embodying a program of instructions executable by a machine wherein said program of instruction comprises a plurality of program codes for touch based surface interaction, said program of instruction comprising:

program code for orienting a device with respect to a surface;

program code for converging the device to the surface;

program code for measuring a normal force between the device and the surface;

program code for measuring a translational resistive force between the device and the surface; and

program code for controlling motion of the device to maintain a predetermined normal force and a predetermined translational resistive force.

17. The computer readable storage medium of claim 16 wherein the program of instructions further comprises program code for controlling the normal force and the translational resistive force according to a reactive impedance based behavior.

18. A computer system for touch based surface interaction, the computer system comprising:

a machine configured to execute instructions embodied as software; and

a plurality of software portions, wherein

one of said software portions is configured to orientate a device with respect to a surface;

one of said software portions is configured to converge the device to the surface;

one of said software portions is configured to measure a normal force between the device and the surface using a surface contact sensor;

one of said software portions is configured to measure a translational resistive force between the device and the surface using the surface contact sensor; and

one of said software portions is configured to independently control motion of the device to maintain a predetermined normal force and a predetermined translational resistive force.

19. The computer system of claim 18 wherein one of the software portions is configured to control the normal force and the translational resistive force according to a reactive impedance based behavior.

20. A control system useful for control of interaction between a device and a surface, comprising:

a sensor operable to detect physical contact between the surface and the device; and

a processor communicatively coupled to the contact sensor and configured to execute modules of instructions, including

an initial manipulation module operable to orient a device in a general direction of the surface,

a range control module operable to converge the device and the surface,

a proprioception module operable to measure normal force disparities using data from the sensor between the surface and device motion actuators, 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 wherein the proprioception module and the exteroception module control movement of the device over the surface so as to maintain contact with the surface with a predetermined normal force and a predetermined translational resistance.

21. The control system for interaction with a surface according to claim 20, wherein the proprioception module and the exteroception module contour map the surface according to a reactive impedance based behavior.

22. The control system for interaction with a surface according to claim 20, wherein the proprioception module can operate unilaterally, wherein the exteroception module can operate unilaterally, wherein the proprioception module and the exteroception module can operate in parallel, and wherein the proprioception module and the exteroception module can operate sequentially.

23. The control system for interaction with a surface according to claim 20, wherein the initial manipulation module forms global coordinates of the surface relative to the device.

24. The control system for interaction with a surface according to claim 23, wherein the device is positioned relative to the surface employing inverse kinematics.

25. The control system for interaction with a surface according to claim 23, wherein the sensor is operable to provide visual feedback and wherein the device is aligned to the surface within a visual field by reducing angle errors between the device and the surface.

26. The control system for interaction with a surface according to claim 20, the sensor is operable to provide visual feedback and wherein the wherein changes in optical flow determines relative range between the device and the surface.

27. The control system for interaction with a surface according to claim 20, wherein a perceived perpendicular distance between the device and the surface is determined by a range sensor on the device.

28. The control system for interaction with a surface according to claim 20, wherein the sensor is operable to provide visual feedback and wherein a perceived perpendicular distance between the device and the surface is determined by a vector scan of the surface.