JP5592703B2 - 粒子フィルタを使用した多指ロボットハンドのための接触状態推定 - Google Patents

粒子フィルタを使用した多指ロボットハンドのための接触状態推定 Download PDF

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JP5592703B2
JP5592703B2 JP2010122808A JP2010122808A JP5592703B2 JP 5592703 B2 JP5592703 B2 JP 5592703B2 JP 2010122808 A JP2010122808 A JP 2010122808A JP 2010122808 A JP2010122808 A JP 2010122808A JP 5592703 B2 JP5592703 B2 JP 5592703B2
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contact
hand
state
model
training data
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JP2010280054A5 (enExample
JP2010280054A (ja
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ロバート・プラット
フランク・ノーブル・パーメンター
クレイグ・エム・コーコラン
チャールズ・ダブリュー・ワンプラー，ザ・セカンド
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ジーエム・グローバル・テクノロジー・オペレーションズ・インコーポレーテッド
ザ・ユナイテッド・ステイツ・オブ・アメリカ・アズ・リプレゼンテッド・バイ・ジ・アドミニストレーター・オブ・ザ・ナショナル・エアロノーティクス・アンド・スペース・アドミニストレーション
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    • 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

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
JP2010122808A 2009-05-28 2010-05-28 粒子フィルタを使用した多指ロボットハンドのための接触状態推定 Active JP5592703B2 (ja)

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 (3)

Publication Number Publication Date
JP2010280054A JP2010280054A (ja) 2010-12-16
JP2010280054A5 JP2010280054A5 (enExample) 2014-07-24
JP5592703B2 true JP5592703B2 (ja) 2014-09-17

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JP2010122808A Active JP5592703B2 (ja) 2009-05-28 2010-05-28 粒子フィルタを使用した多指ロボットハンドのための接触状態推定

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

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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
DE102021200569A1 (de) 2021-01-22 2022-07-28 Robert Bosch Gesellschaft mit beschränkter Haftung Vorrichtung und Verfahren zum Trainieren eines Gaußprozess-Zustandsraummodells
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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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
JP4137601B2 (ja) 2002-11-12 2008-08-20 シャープ株式会社 ロボットハンドの制御方法、ロボットハンド
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
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
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
JP4890199B2 (ja) * 2006-11-09 2012-03-07 本田技研工業株式会社 ロボットハンドおよびロボット
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JP5448326B2 (ja) * 2007-10-29 2014-03-19 キヤノン株式会社 把持装置および把持装置制御方法

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DE102010021607B4 (de) 2015-06-25
US8280837B2 (en) 2012-10-02
US20100306159A1 (en) 2010-12-02
DE102010021607A1 (de) 2011-01-20
JP2010280054A (ja) 2010-12-16

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