Modular robotic manipulation
First Claim
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 Assignments
0 Petitions
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.
37 Citations
28 Claims
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1. A method for touch based surface interaction, the method comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for controlling device interaction with a surface, the method comprising:
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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. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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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:
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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. - View Dependent Claims (17)
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18. A computer system for touch based surface interaction, the computer system comprising:
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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. - View Dependent Claims (19)
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20. A control system useful for control of interaction between a device and a surface, comprising:
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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. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28)
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Specification