Touch sensitive robotic gripper
First Claim
1. A robotic gripper, comprising:
- one or more gripping members;
one or more tactile sensors on or in the one or more gripping members, the one or more tactile sensors configured to take geographic measurements of an object gripped by the one or more gripping members; and
one or more processors configured to;
create a numeric model of at least a portion of a surface of the object gripped by the one or more gripping members using the geographic measurements from the one or more tactile sensors; and
adjust a location of the object gripped by the one or more gripping members by controlling the one or more gripping members based on the numeric model of the at least the portion of the surface of the object.
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Accused Products
Abstract
Robotic grippers and robotic gripping systems are disclosed. A robotic gripper includes one or more gripping members, one or more tactile sensors on or in the one or more gripping members, and one or more processors. The one or more tactile sensors are configured to take geographic measurements of an object gripped by the one or more gripping members. The one or more processors are configured to create a numeric model of at least a portion of a surface of the object gripped by the one or more gripping members using the geographic measurements from the one or more tactile sensors. The one or more processors are also configured to adjust a location of the object gripped by the one or more gripping members by controlling the one or more gripping members based on the numeric model of the at least the portion of the surface of the object.
146 Citations
32 Claims
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1. A robotic gripper, comprising:
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one or more gripping members; one or more tactile sensors on or in the one or more gripping members, the one or more tactile sensors configured to take geographic measurements of an object gripped by the one or more gripping members; and one or more processors configured to; create a numeric model of at least a portion of a surface of the object gripped by the one or more gripping members using the geographic measurements from the one or more tactile sensors; and adjust a location of the object gripped by the one or more gripping members by controlling the one or more gripping members based on the numeric model of the at least the portion of the surface of the object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A robotic gripping system, comprising:
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one or more gripping members to grasp an object, the one or more gripping members including one or more tactile sensors, the one or more tactile sensors to take geographic measurements of the object; a robotic manipulator to position the one or more gripping members; a vision system to produce image data corresponding to one or more images of the object; and one or more processors operably coupled to the one or more tactile sensors, the robotic manipulator, and the vision system, the one or more processors to; identify a location of the object and points of interest of the object based on the image data; control the robotic manipulator to position the one or more gripping members to grasp the object at the identified points of interest; and identify a pose of the object grasped within the one or more gripping members by identifying the points of interest based on the geographic measurements. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22)
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23. A robotic gripping system, comprising:
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a vision system configured to identify points of interest of an object and a pose of the object; and a gripping system including; a gripper; a manipulator configured to position the gripper to grasp the object based on the identified pose and points of interest of the object; and one or more tactile sensors configured to estimate the pose of the object within the gripper based on the points of interest identified by the vision system. - View Dependent Claims (24, 25, 26, 27)
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28. A robotic gripper, comprising:
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a gripper; one or more tactile electrical transducers to output one or more signals, each of the one or more signals providing information regarding a location of a point on a surface of an object gripped by the gripper; and one or more processors configured to; generate a geographic model of the surface of the object within a coordinate system based on the one or more signals; and estimate a pose of the object within the gripper based on the geographic model. - View Dependent Claims (29, 30, 31, 32)
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Specification