DE102010021607B4 - Kontaktzustandsschätzung für Roboterhände mit mehreren Fingern unter Verwendung von Partikel-Filtern - Google Patents

Kontaktzustandsschätzung für Roboterhände mit mehreren Fingern unter Verwendung von Partikel-Filtern Download PDF

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Publication number
DE102010021607B4
DE102010021607B4 DE102010021607.0A DE102010021607A DE102010021607B4 DE 102010021607 B4 DE102010021607 B4 DE 102010021607B4 DE 102010021607 A DE102010021607 A DE 102010021607A DE 102010021607 B4 DE102010021607 B4 DE 102010021607B4
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Germany
Prior art keywords
hand
contact
model
contact state
measurement model
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
DE102010021607.0A
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German (de)
English (en)
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DE102010021607A1 (de
Inventor
Robert J. Platt jun.
Frank Noble Permenter
Craig M. Corcoran
Charles W. Wampler II.
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Usa As Represented By Administrator Us
GM Global Technology Operations LLC
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GM Global Technology Operations LLC
National Aeronautics and Space Administration NASA
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Publication of DE102010021607A1 publication Critical patent/DE102010021607A1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1612—Program controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33028—Function, rbf radial basis function network, gaussian network
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39531—Several different sensors integrated into hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40541—Identification of contact formation, state from several force measurements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40553—Haptic object recognition
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40564—Recognize shape, contour of object, extract position and orientation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40606—Force, torque sensor in finger

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
DE102010021607.0A 2009-05-28 2010-05-26 Kontaktzustandsschätzung für Roboterhände mit mehreren Fingern unter Verwendung von Partikel-Filtern Active DE102010021607B4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US12/474,068 US8280837B2 (en) 2009-05-28 2009-05-28 Contact state estimation for multi-finger robot hands using particle filters
US12/474,068 2009-05-28

Publications (2)

Publication Number Publication Date
DE102010021607A1 DE102010021607A1 (de) 2011-01-20
DE102010021607B4 true DE102010021607B4 (de) 2015-06-25

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
DE102010021607.0A Active DE102010021607B4 (de) 2009-05-28 2010-05-26 Kontaktzustandsschätzung für Roboterhände mit mehreren Fingern unter Verwendung von Partikel-Filtern

Country Status (3)

Country Link
US (1) US8280837B2 (enExample)
JP (1) JP5592703B2 (enExample)
DE (1) DE102010021607B4 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021200569A1 (de) 2021-01-22 2022-07-28 Robert Bosch Gesellschaft mit beschränkter Haftung Vorrichtung und Verfahren zum Trainieren eines Gaußprozess-Zustandsraummodells

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JP5812940B2 (ja) * 2011-07-15 2015-11-17 三菱電機株式会社 複数の姿勢においてプローブを用いて物体をプロービングすることによって、物体に対するプローブの姿勢を求める方法およびシステム
US8706299B2 (en) * 2011-08-02 2014-04-22 GM Global Technology Operations LLC Method and system for controlling a dexterous robot execution sequence using state classification
US9067319B2 (en) * 2011-08-11 2015-06-30 GM Global Technology Operations LLC Fast grasp contact computation for a serial robot
US10618174B2 (en) 2014-12-09 2020-04-14 Aeolus Robotics, Inc. Robotic Touch Perception
JP6468871B2 (ja) * 2015-02-03 2019-02-13 キヤノン株式会社 ロボットハンド制御方法及びロボット装置
JP6348097B2 (ja) * 2015-11-30 2018-06-27 ファナック株式会社 ワーク位置姿勢算出装置およびハンドリングシステム
JP6710946B2 (ja) * 2015-12-01 2020-06-17 セイコーエプソン株式会社 制御装置、ロボットおよびロボットシステム
US9694494B1 (en) * 2015-12-11 2017-07-04 Amazon Technologies, Inc. Feature identification and extrapolation for robotic item grasping
US20180264660A1 (en) * 2017-03-20 2018-09-20 Kindred Systems Inc. Systems, devices, articles, and methods for prehension
US10406685B1 (en) * 2017-04-20 2019-09-10 X Development Llc Robot end effector control
US10682774B2 (en) 2017-12-12 2020-06-16 X Development Llc Sensorized robotic gripping device
US10792809B2 (en) * 2017-12-12 2020-10-06 X Development Llc Robot grip detection using non-contact sensors
CN109670538B (zh) * 2018-12-03 2023-06-30 浙江工业大学 一种非刚体零件的装配接触状态识别方法
US11161244B2 (en) * 2019-01-22 2021-11-02 Mitsubishi Electric Research Laboratories, Inc. System and method for automatic error recovery in robotic assembly
US10583560B1 (en) * 2019-04-03 2020-03-10 Mujin, Inc. Robotic system with object identification and handling mechanism and method of operation thereof
EP3738723A1 (de) * 2019-05-17 2020-11-18 Siemens Aktiengesellschaft Verfahren, computer-programm-produkt und robotersteuerung zum kontaktbasierten lokalisieren von bei der manipulation durch roboter bewegbaren objekten sowie roboter
CN114619438B (zh) * 2020-12-09 2023-07-07 中国科学院沈阳自动化研究所 基于视觉快速定位的柔性自适应装配方法
CN113370184B (zh) * 2021-06-21 2025-04-29 南方科技大学 一种基于视触融合的全向自适应触感手指及其使用方法
KR20230016499A (ko) 2021-07-26 2023-02-02 현대자동차주식회사 비지도 학습을 이용하여 의도를 추정하기 위한 방법
CN116352697B (zh) * 2022-12-06 2025-07-08 四川大学锦江学院 基于改进多目标pso算法的机械臂轨迹优化获取方法

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JP2004160594A (ja) * 2002-11-12 2004-06-10 Sharp Corp ロボットハンドの制御方法、ロボットハンド
JP2007160490A (ja) * 2005-12-16 2007-06-28 Sharp Corp ロボットハンド
JP2007285784A (ja) * 2006-04-14 2007-11-01 Kobe Univ 圧力分布情報検出装置及び圧力分布情報検出方法
DE102007053485A1 (de) * 2006-11-09 2008-06-26 Honda Motor Co., Ltd. Roboterhand und Roboter
DE102007001263A1 (de) * 2007-01-08 2008-07-10 Kuka Roboter Gmbh Robotersystem zur Beladung von Lademitteln mit Stückguteinheiten
JP2009107043A (ja) * 2007-10-29 2009-05-21 Canon Inc 把持装置および把持装置制御方法

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US4921293A (en) * 1982-04-02 1990-05-01 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Multi-fingered robotic hand
JPH08174154A (ja) * 1994-12-28 1996-07-09 Toyota Motor Corp 中子納め方法
JP4389046B2 (ja) * 2005-08-18 2009-12-24 独立行政法人沖縄科学技術研究基盤整備機構 状態ベクトル推定方法および自律型移動体
JP2007075925A (ja) * 2005-09-12 2007-03-29 Toyota Motor Corp 滑り検出装置
JP4032126B1 (ja) * 2006-07-05 2008-01-16 国立大学法人北陸先端科学技術大学院大学 移動体位置推定システム、及び、移動体位置推定方法

Patent Citations (6)

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Publication number Priority date Publication date Assignee Title
JP2004160594A (ja) * 2002-11-12 2004-06-10 Sharp Corp ロボットハンドの制御方法、ロボットハンド
JP2007160490A (ja) * 2005-12-16 2007-06-28 Sharp Corp ロボットハンド
JP2007285784A (ja) * 2006-04-14 2007-11-01 Kobe Univ 圧力分布情報検出装置及び圧力分布情報検出方法
DE102007053485A1 (de) * 2006-11-09 2008-06-26 Honda Motor Co., Ltd. Roboterhand und Roboter
DE102007001263A1 (de) * 2007-01-08 2008-07-10 Kuka Roboter Gmbh Robotersystem zur Beladung von Lademitteln mit Stückguteinheiten
JP2009107043A (ja) * 2007-10-29 2009-05-21 Canon Inc 把持装置および把持装置制御方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021200569A1 (de) 2021-01-22 2022-07-28 Robert Bosch Gesellschaft mit beschränkter Haftung Vorrichtung und Verfahren zum Trainieren eines Gaußprozess-Zustandsraummodells

Also Published As

Publication number Publication date
JP5592703B2 (ja) 2014-09-17
US8280837B2 (en) 2012-10-02
US20100306159A1 (en) 2010-12-02
DE102010021607A1 (de) 2011-01-20
JP2010280054A (ja) 2010-12-16

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OP8 Request for examination as to paragraph 44 patent law
8127 New person/name/address of the applicant

Owner name: THE U.S.A. AS REPRESENTED BY THE ADMINISTRATOR, US

Owner name: GM GLOBAL TECHNOLOGY OPERATIONS LLC , ( N. D. , US

R081 Change of applicant/patentee

Owner name: THE U.S.A. AS REPRESENTED BY THE ADMINISTRATOR, US

Free format text: FORMER OWNERS: GM GLOBAL TECHNOLOGY OPERATIONS LLC (N. D. GESETZEN DES STAATES DELAWARE), DETROIT, MICH., US; THE U.S.A. AS REPRESENTED BY THE ADMINISTRATOR OF THE NATIONAL AERONAUTICS AND SPACE ADMINISTRATION, WASHINGTON, D.C., US

Effective date: 20110321

Owner name: GM GLOBAL TECHNOLOGY OPERATIONS LLC (N. D. GES, US

Free format text: FORMER OWNERS: GM GLOBAL TECHNOLOGY OPERATIONS LLC (N. D. GESETZEN DES STAATES DELAWARE), DETROIT, MICH., US; THE U.S.A. AS REPRESENTED BY THE ADMINISTRATOR OF THE NATIONAL AERONAUTICS AND SPACE ADMINISTRATION, WASHINGTON, D.C., US

Effective date: 20110321

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Effective date: 20110321

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R018 Grant decision by examination section/examining division
R020 Patent grant now final