METHOD AND SYSTEM FOR AUTONOMOUS OBJECT MANIPULATION
A system, method, and apparatus for a robot system that manipulates the surface of an object effect programmed manipulation goals such as reaching specific locations on the surface of the object, displacing the surface of the object, applying a predetermined force and torque to the surface of the object, dynamically changing the contact point between the robot and the object, and applying force to structures below the surface of the object. The system and method determine the state of the object through a sensing method that includes, without limitation: torque and force measurement, visible light sensors, range and depth sensors, ultrasound sensors, thermographic sensors, and worktable force measurement.
1 . (canceled)
2 . A system, comprising:
a robotic manipulator including an end effector; and
a controller configured to:
cause the end effector to contact a deformable surface of an object at a first location on the deformable surface and apply an amount of force to the deformable surface;
sense force data based at least in part on interaction of the end effector and the object; and
manage progression of the end effector based at least in part on the sensed force data.
3 . The system of claim 2 , wherein the controller is further configured to determine at least one of a structure or a state of the object based at least in part on the sensed force data.
4 . The system of claim 2 , wherein the controller is further configured to attribute the sensed force data to at least one of structural constituency or changes in the object.
5 . The system of claim 2 , wherein the controller is further configured to determine a friction component.
6 . The system of claim 5 , wherein the controller is configured to manage the progression of the end effector based at least in part on the determined friction component.
7 . The system of claim 6 , wherein the controller is configured to manage the progression of the end effector based at least in part on the determined friction component at least in part by modifying a force goal to decrease the friction component.
8 . The system of claim 2 , wherein the controller is further configured to determine a contact patch based at least in part on the interaction of the end effector and the object.
9 . The system of claim 8 , wherein the contact patch comprises a region of surface to surface contact of the end effector and the object.
10 . The system of claim 2 , wherein the controller is further configured to determine a contact pressure between a surface of the end effector and the deformable surface of the object.
11 . The system of claim 2 , wherein the controller is configured to progress from a manipulation goal to a next manipulation goal in a sequence.
12 . A method, comprising:
causing an end effector associated with a robotic manipulator to contact a deformable surface of an object at a first location on the deformable surface and apply an amount of force to the deformable surface;
sensing force data based at least in part on interaction of the end effector and the object; and
managing progression of the end effector based at least in part on the sensed force data.
13 . The method of claim 12 , further comprising determining at least one of a structure or a state of the object based at least in part on the sensed force data.
14 . The method of claim 12 , further comprising attributing the sensed force data to at least one of structural constituency or changes in the object.
15 . The method of claim 12 , further comprising determining a friction component.
16 . The method of claim 15 , further comprising managing the progression of the end effector based at least in part on the determined friction component.
17 . The method of claim 16 , further comprising managing the progression of the end effector based at least in part on the determined friction component at least in part by modifying a force goal to decrease the friction component.
18 . The method of claim 12 , further comprising determining a contact patch based at least in part on the interaction of the end effector and the object.
19 . The method of claim 18 , wherein the contact patch comprises a region of surface to surface contact of the end effector and the object.
20 . The method of claim 12 , further comprising determining a contact pressure between a surface of the end effector and the deformable surface of the object.
21 . The method of claim 12 , further comprising progressing from a manipulation goal to a next manipulation goal in a sequence.