Device and method to identify functional parts of tools for robotic manipulation
US9144905B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 21, 2014 |
| Grant date | Sep 29, 2015 |
| Priority date | — |
| Expiry date | Mar 23, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2219/004
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Described is system for identifying functional elements of objects for robotic manipulation. The system causes a robot to manipulate an object, the robot having an audio sensor and touch sensors. A three-dimensional (3D) location of each audio event that produces a response during manipulation of the object is recorded. Additionally, a 3D location of each tactile event that produces a response during manipulation of the object is recorded. A 3D location of each audio and tactile event in 3D space is then determined. A 3D audio point cloud and a 3D tactile point cloud are generated. Then, the 3D audio point cloud and the 3D tactile point cloud are registered with a 3D model point cloud of the object. Finally, an annotated 3D model point cloud of the object is generated, which encodes the location of a functional element of the object.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.