Touch sensitive robotic gripper
First Claim
1. A robotic foot comprising:
- one or more shear sensors configured to measure a shear force against a bottom of the robotic foot;
a plurality of displacement measuring cells configured to support the robotic foot and measure a contour of a surface in contact with the bottom of the robotic foot;
a plurality of force sensors, each force sensor in series with a corresponding displacement measuring cell of the plurality of displacement measuring cells; and
a processor configured to;
receive measurements from the one or more shear sensors, andcalculate a coefficient of friction between the robotic foot and a surface in contact with the bottom of the robotic foot.
1 Assignment
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Accused Products
Abstract
A displacement measuring cell may be used to measure linear and/or angular displacement. The displacement measuring cell may include movable and stationary electrodes in a conductive fluid. Electrical property measurements may be used to determine how far the movable electrode has moved relative to the stationary electrode. The displacement measuring cell may include pistons and/or flexible walls. The displacement measuring cell may be used in a touch-sensitive robotic gripper. The touch-sensitive robotic gripper may include a plurality of displacement measuring cells mechanically in series and/or parallel. The touch-sensitive robotic gripper may be include a processor and/or memory configured to identify objects based on displacement measurements and/or other measurements. The processor may determine how to manipulate the object based on its identity.
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Citations
55 Claims
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1. A robotic foot comprising:
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one or more shear sensors configured to measure a shear force against a bottom of the robotic foot; a plurality of displacement measuring cells configured to support the robotic foot and measure a contour of a surface in contact with the bottom of the robotic foot; a plurality of force sensors, each force sensor in series with a corresponding displacement measuring cell of the plurality of displacement measuring cells; and a processor configured to; receive measurements from the one or more shear sensors, and calculate a coefficient of friction between the robotic foot and a surface in contact with the bottom of the robotic foot. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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27. A method for determining frictional properties of a surface in contact with a bottom of a robotic foot, the method comprising:
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receiving, at a processor, shear force measurements for the bottom of the foot from one or more shear sensors; measuring a contour of the surface in contact with the bottom of the robotic foot with a plurality of displacement measuring cells configured to support the robotic foot; measuring pressure with a plurality of force sensors, each force sensor in series with a corresponding displacement measuring cell of the plurality of displacement measuring cells; and calculating, using the processor, a coefficient of friction between the foot and the surface in contact with the bottom of the foot. - View Dependent Claims (28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54)
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55. A non-transitory computer readable storage medium comprising program code configured to cause a processor to perform a method for determining frictional properties of a surface in contact with a bottom of a robotic foot, the method comprising:
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receiving shear force measurements for the bottom of the robotic foot from one or more shear sensors; determining at least one of a robot weight and a robot load; calculating a coefficient of friction between the robotic foot and the surface in contact with the bottom of the robotic foot by measuring displacement of a plurality of displacement measuring cells; measuring a cell pressure at each of the plurality of displacement measuring cells with at least one pressure transducer determining a pressure distribution profile from the plurality of displacement measuring cells; equalizing pressures of the plurality of displacement measuring cells with at least one pressure reducing valve; and calculating a geography of the surface.
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Specification