Method and Device for Manipulating an Object

• US 20100217436A1
• Filed: 02/24/2010
• Published: 08/26/2010
• Est. Priority Date: 02/24/2009
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Mozeika, Annan Michael, Steltz, Erik Edward, Jones, Christopher Vernon
• Granted Patent: US 8,727,410 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 15/0023 Gripper surfaces directly activated by a fluid flexible fingers B25J15/12
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B66C 1/04 by magnetic means
• CPC Class Codes: B66C 1/44 and applying frictional forces
• CPC Class Codes: B66C 1/445 motor actuated
• CPC Class Codes: B66F 11/044 Working platforms suspended from booms
• CPC Class Codes: B66F 11/048 Mobile camera platform

Abstract

A method for manipulating an object with a remote vehicle having a manipulator attached to a manipulator arm. The manipulator comprises a jamming or other phase change material in a housing. The method comprises pressing the manipulator housing to the object, activating the jamming or other phase change material to cause the manipulator to grasp the object, and moving one or more of the manipulator arm and the remote vehicle to manipulate the object.

Claims

1. A method for manipulating an object with a remote vehicle having a manipulator attached to a manipulator arm, the manipulator comprising a jamming or other phase change material in a housing, the method comprising:

pressing the manipulator housing to the object;

activating the jamming or other phase change material to cause the manipulator to grasp the object; and

moving one or more of the manipulator arm and the remote vehicle to manipulate the object.

2. The method of claim 1, wherein activating the jamming or other phase change material comprises changing a fluid volume in the manipulator housing.

3. The method of claim 2, wherein the jamming or other phase change material is a granular material such as coffee grounds.

4. The method of claim 2, wherein changing a fluid volume in the manipulator housing comprises using a vacuum in fluid communication with the manipulator housing to change the air volume in the manipulator housing.

5. The method of claim 2, wherein, prior to activating the jamming material, an interior of the housing is at atmospheric pressure and the manipulator is pliable.

6. The method of claim 5, wherein, after activating the jamming or other phase change material, an interior of the housing is at a negative pressure and the manipulator is rigid.

7. The method of claim 1, wherein the housing comprises a balloon.

8. The method of claim 1, wherein the housing comprises a high-friction material.

9. The method of claim 1, wherein the housing comprises a flexible or elastic material.

10. A system for use with a remote vehicle and allowing the remote vehicle to manipulate an object, the system comprising:

a manipulator arm having a proximal end and a distal end, and being attached to the remote vehicle at the proximal end;

a manipulator located at the distal end of the manipulator arm and comprising a housing and a jamming material within the housing; and

a device for activating the jamming material,

wherein the object is manipulated by moving the manipulator arm to press the manipulator housing to the object, activating the jamming material to cause the manipulator to grasp the object, and moving one or more of the manipulator arm and the remote vehicle.

11. The device of claim 10, wherein the device for activating the jamming material comprises a vacuum in fluid communication with an interior of the housing, the vacuum changing a vacuum level in the housing.

12. The device of claim 11, wherein the jamming material is coffee grounds.

13. The device of claim 10, wherein the housing comprises a balloon.

14. The device of claim 10, wherein the housing comprises a platinum-cure or tin-cure silicone-based rubber.

15. A method for using a remote vehicle having a manipulator attached to a manipulator arm to open a door having a knob, the manipulator comprising a jamming material in a housing, the method comprising:

actuating the manipulator arm to press the manipulator to the knob;

activating the jamming material to cause the manipulator to grasp the knob;

rotating the manipulator arm and thus the knob to unlatch the door; and

moving one or more of the manipulator arm and the remote vehicle to pull or push the door.

16. The method of claim 15, wherein the manipulator comprises more than one housing.

17. The method of claim 16, wherein each of the housings is provided on a finger of a gripper.

18. The method of claim 17, wherein actuating the manipulator arm to press the jamming manipulator housing to the knob comprises:

positioning the fingers of the manipulator so that they are on substantially opposite sides of the knob; and

pressing the fingers of the manipulator onto the knob so that the housings conform at least partially to a shape of the knob.

19. A manipulator to be used on a manipulator arm of a remote vehicle, the manipulator comprising a housing filled with a jamming or other phase change material,

wherein the manipulator is pressed to an object to be manipulated and grasps the object when a rigidity of the manipulator is increased to effect a change in a state of the jamming or other phase change material.

20. A manipulator to be used on a manipulator arm of a remote vehicle, the manipulator comprising a housing filled with an electrorheological material,

wherein the manipulator is pressed to an object and grasps the object when a rigidity of the manipulator is increased by applying an electric field to the electrorheological material.

21. A manipulator to be used on a manipulator arm of a remote vehicle, the manipulator comprising a housing filled with a magnetorheological material,

wherein the manipulator is pressed to an object and grasps the object when a rigidity of the manipulator is increased by applying a magnetic field to the magnetorheological material.