変化する接触感度を有する接触及び形状センサに対応したロボット、及び、ロボットを提供するための方法

Japanese Patent JP7210204

B2

Systems and methods for detecting pose and force against an object are provided. A method includes receiving a signal from a deformable sensor comprising data from a deformation region in a deformable membrane resulting from contact with the object utilizing an internal sensor disposed within an enclosure and having a field of view directed through a medium and toward a bottom surface of the deformable membrane. The method also determines a pose of the object based on the deformation region of the deformable membrane. The method also determines an amount of force applied between the deformable membrane and the object is determined based on the deformation region of the deformable membrane.

JP2808274	INDUSTRIAL APPLICABILITY: Target position detection method and position detection device
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WO/2018/173192	ARTICULATED ROBOT PARALLELISM DETERMINATION METHOD AND ARTICULATED ROBOT INCLINATION ADJUSTMENT DEVICE

Alexander Ars patch
Russell El Ted Lake
Kunimatsu Hashimoto
Ericsie Sobel

JP2018180908A

January 23, 2023

September 26, 2018

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Toyota Research Institute, Inc.

B25J13/08; B25J19/02

JP2013061223A
JP2008149443A
JP2017096782A
JP2012042220A
JP2005257343A
JP2010221358A
JP2013205131A

KR101586665B1

HRISTU et al.,The Performance of a deformable-membrane tactile sensor: basic results on geometrically-defined tasks,Proceedings of the 2000 IEEE International Conference on Robotics & Automation,2000年04月24日,pages 508-513

Aoki Atsushi
Shinji Mihashi
Junichi Tsuruta
Koichi Ito
Nobuo Sekine

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