A system for interaction with a the environment includes an initial manipulation module operable to orient a device in a general direction of a surface of an object and a range control module operable to converge the device and the surface. Once the device and surface are in the proximity of each ot
A system for interaction with a the environment includes an initial manipulation module operable to orient a device in a general direction of a surface of an object and a range control module operable to converge the device and the surface. Once the device and surface are in the proximity of each other a contact sensor detects when physical contact between the surface and the device occurs. Thereafter, a proprioception module measures normal force disparities between the surface and device motion actuators and finally, an exteroception module to measure translational resistance disparities between relative motion of the surface and the device. The system uses these disparity measurements and actuator positions to modify the manipulation of the device.
대표청구항▼
1. A system for controlling contact between two objects, comprising: a plurality of sensors including a plurality of ultra-wide band (UWB) transceivers and a contact sensor wherein the plurality of UWB transceivers creates a relative coordinate for a first object and a second object and wherein the
1. A system for controlling contact between two objects, comprising: a plurality of sensors including a plurality of ultra-wide band (UWB) transceivers and a contact sensor wherein the plurality of UWB transceivers creates a relative coordinate for a first object and a second object and wherein the relative coordinate provides positional and translational information about the first object and the second object including error associated with the relative coordinate and wherein the contact sensor detects physical contact between the first object and a surface of the second object; anda processor configured to execute instructions and communicatively coupled to the plurality of sensors and to a non-transitory memory storing modules of instructions, includingan initial manipulation module wherein the initial manipulation module selects a deliberative behavior to orient the first object with the second object based on the relative coordinate and the error associated with the relative coordinate awareness of the environment,a range control module wherein the range control module modifies the deliberate behavior based on the relative coordinate and the error associated with the relative coordinate awareness and orientation of the first object with respect to the second object to initiate contact between the first object and the second object,a proprioception module operable to measure normal force disparities using data from the sensor between the surface and device motion actuators and modify the deliberate behavior based on normal force disparities, andan exteroception module operable to measure translational resistance disparities using data from the sensor between relative motion of the surface and the device and modify the deliberate behavior based on translational resistance disparities and wherein the proprioception module and the exteroception module control contact between the first object and the second object so as to maintain contact with a predetermined normal force and a predetermined translational resistance. 2. The system for controlling contact between two objects according to claim 1, further comprising a proprioception module operable to measure normal force disparities using data from the sensor between the surface and device motion actuators. 3. The system for controlling contact between two objects according to claim 1, wherein the proprioception module and the exteroception module contour map the surface according to a reactive impedance based behavior. 4. The system for controlling contact between two objects according to claim 1, wherein the proprioception module is configured to operate unilaterally. 5. The system for controlling contact between two objects according to claim 1, wherein the contact sensor is operable to provide visual feedback and wherein changes in optical flow determines relative range between the first object and the surface. 6. The system for controlling contact between two objects according to claim 1, wherein a perceived perpendicular distance between the first object and the surface is determined by a range sensor on the device. 7. The system for controlling contact between two objects according to claim 1, wherein the contact sensor is operable to provide visual feedback and wherein a perceived perpendicular distance between the first object and the surface is determined by a vector scan of the surface. 8. The system for controlling contact between two objects according to claim 1, wherein the exteroception module is configured to operate unilaterally. 9. The system for controlling contact between two objects according to claim 1, wherein the proprioception module and the exteroception module are configured to operate in parallel. 10. The system for controlling contact between two objects according to claim 1, wherein the proprioception module and the exteroception module are configured to operate sequentially. 11. A system for establishing contact between two objects, comprising: a first object wherein the first object includes a first surface and one or more ultra-wide band (UWB) transceivers; anda second object, in proximity of the first object, wherein the second object includes a second surface, a contact sensor, at least two ultra-wide band (UWB) transceivers, and a processor configured to execute a plurality of code of instructions, said code of instructions including,code for analyzing a signal received from the one or more UWB transceivers by the at least two UWB transceivers to determine a relative position of the first object with respect to the second object and a relative position error,code to select a deliberative behavior to orient the second surface of the second object towards the first object based on the relative position of the first object with respect to the second object and the relative position error,code to initiate contact between the first surface of the first object and the second surface of the second object,responsive to the contact sensor sensing contact, code to determine a normal force and a translational resistance between the first surface and the second surface and error associated with the normal force and translational resistance, andcode to select a reactive behavior to maintain contact between the first surface and the second surface based on a predetermined normal force and a predetermined translational resistance and the error associated with the normal force and translational resistance. 12. The system for establishing contact between two objects according to claim 11, further comprising code to determine normal force disparities between the first surface and the second surface. 13. The system for establishing contact between two objects according to claim 12, further comprising code to determine translational resistance disparities between the first surface and the second surface. 14. The system for establishing contact between two objects according to claim 13, wherein determination of translational resistance disparities and normal force disparities are independent. 15. The system for establishing contact between two objects according to claim 13, wherein maintaining contact between the first surface and the second surface include minimizing normal force disparities. 16. The system for establishing contact between two objects according to claim 13, wherein maintaining contact between the first surface and the second surface including minimizing translational resistance disparities. 17. The system for establishing contact between two objects according to claim 11, wherein the second object includes an optical sensor and wherein changes in optical flow between the first surface and the second surface determines relative range prior to contact. 18. The system for establishing contact between two objects according to claim 11, wherein the at least two UWB transceivers are fixed on the second object and use relative range to the one or more UWB transceivers to orient the second object with the first object.
연구과제 타임라인
LOADING...
LOADING...
LOADING...
LOADING...
LOADING...
이 특허에 인용된 특허 (40)
Syed, Fazal Urrahman; Filev, Dimitar Petrov; Tseng, Fling, Adaptive real-time driver advisory control for a hybrid electric vehicle to achieve fuel economy improvement.
Ehlbeck James M. ; Renner Goetz,DEX ; Powell Jared A. ; Kirn Christopher L., Fuel use efficiency system for a vehicle for assisting the driver to improve fuel economy.
Boss, Gregory Jensen; Hamilton, II, Rick Allen; Martine, Michael Jack; McConnell, Kevin C.; Miller, John Williams, Method and system for calculating least-cost routes based on historical fuel efficiency, street mapping and location based services.
Richman Darryl Steven (Bellevue WA) Lichtman Moshe (Bellevue WA) Enstrom Mark R. (Redmond WA) Lennon Thomas E. (Seattle WA) Lipe Ralph A. (Woodinville WA) Santerre Pierre-Yves (Bellevue WA) Short Rob, Method for automatically configuring devices including a network adapter without manual intervention and without prior c.
Kouznetsov, Victor; Melchione, Dan; Fallenstedt, Martin, System and method for providing application services with controlled access into privileged processes.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.