Systems and methods for determining pose of objects held by flexible end effectors
US11389968B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 2, 2019 |
| Grant date | Jul 19, 2022 |
| Priority date | — |
| Expiry date | Oct 16, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40625
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Systems and methods for determining a pose of an object held by a flexible end effector of a robot are disclosed. A method of determining a pose of the object includes receiving tactile data from tactile sensors, receiving curvature data from curvature sensors, determining a plurality of segments of the flexible end effector from the curvature data, assigning a frame to each segment, determining a location of each point of contact between the object and the flexible end effector from the tactile data, calculating a set of relative transformations and determining a location of each point relative to one of the frames, generating continuous data from the determined location of each point, and providing the continuous data to a pose determination algorithm that uses the continuous data to determine the pose of the object.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.