Systems and methods for determining pose of objects held by flexible end effectors

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United States of America Patent

PATENT NO 11389968
SERIAL NO

16591014

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Abstract

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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.

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Patent Owner(s)

  • TOYOTA RESEARCH INSTITUTE, INC.

International Classification(s)

Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Alspach, Alexander Somerville, US 38 67
Kuppuswamy, Naveen Suresh Arlington, US 18 21

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