Toyota Research Institute, Inc.

Toyota Jidosha Kabushiki Kaisha

Alexander Alspach

Naveen Suresh Kuppuswamy

Andrew M Beaulieu

Kunimatsu Hashimoto

Erik C Sobel

Russell L Tedrake

Avinash Uttamchandani

Aimee S Goncalves

Takuya Ikeda

Samson F Creasey

Alejandro M Castro

Adrien David Gaidon

Vitor Guizilini

Rares A Ambrus

Katherine Tsui

Calder Phillips-Grafflin

Duy-Nguyen Ta-Huynh

Abhijeet Agnihotri

A robotic system for grasping an object including a set of movable robotic fingers that may be in the form of a gripper or other moldable robotic finger similarly formed. The robotic fingers include one or more collapsible structures on the surface of an inner pad of the two or more fingers. The collapsible structures are curved structures that support a grasped object and collapse when an object is pulled in an outward direction, the outward direction including from a base to the to the tip of the two or more fingers. A servo motor may control the movement of the fingers or the movement of the collapsible structures.

Collapsible splined fingers for ratcheting engagements and high normal force exertion

A system includes a processor, a robotic arm comprising an end effector, wherein the end effector comprises a plurality of ridges, a sensor configured to detect vibrations from the plurality of ridges, and a memory module. The memory module stores machine-readable instructions that cause the processor to perform operations including contacting, with the plurality of ridges, a target object, detecting, with the sensor, vibrations from the plurality of ridges caused by a movement between the target object and the plurality of ridges, determining an attribute of the movement based on the detected signals, and adjusting the end effector based on the attribute of the movement.

Systems and devices for surface slip detection

Systems and methods for calibrating deformable sensors are disclosed. In one embodiment, a method of calibrating a deformable sensor includes capturing image data of the deformable sensor using an external image sensor, wherein the deformable sensor comprises a deformable membrane defining an enclosure that is configured to be filled with a medium. The method further includes comparing the image data of the deformable sensor to a metric. When the image data does not satisfy the metric, the method includes adjusting a pressure within the enclosure.

Systems and methods for calibrating deformable sensors

Robots including a lifting actuator for lifting object are disclosed. In one embodiment, a robot includes a rail system extending in a system direction, a body structure coupled to the rail system, the body structure comprising an array of flexible tactile sensors, wherein each flexible tactile sensor of the array of flexible tactile sensors is operable to produce a signal determinative of a magnitude and a direction of a force applied to the flexible tactile sensor, and a lift actuator operable to move the body structure along the rail system.

Robots including a lift actuator and body structure for lifting objects

Robots for lifting objects are disclosed. In one embodiment, a robot includes a rail system, a body structure coupled to the rail system, a first arm coupled to a first side of the body structure, one or more first arm actuators providing the first arm with multiple degrees of freedom, a second arm coupled to a second side of the body structure, one or more second arm actuators providing the second arm with multiple degrees of freedom, and a lift actuator operable to move the body structure along the rail system. The one or more first arm actuators and the one or more second arm actuators are operable to wrap the first arm and the second arm around an object and hold the object against the body structure. The lift actuator is operable to move the body structure such that the object is lifted on the rail system.

Lifting robots

Robots and sensor systems having a compliant member for maintaining the position of a sensor are disclosed. In one embodiment, a robot includes a rigid surface, one or more compliant members attached to the rigid surface, and a sensor device. The sensor device includes an inflatable diaphragm operable to be disposed around the one or more compliant members, the inflatable diaphragm having a port, and a pressure sensor fluidly coupled to the port and operable to detect a pressure within the inflatable diaphragm. The one or more compliant members prevent lateral movement and rotational movement of the sensor device.

Robots and sensor systems having compliant members

A deformable sensor comprises an enclosure comprising a deformable membrane, the enclosure configured to be filled with a medium, and an imaging sensor, disposed within the enclosure, having a field of view configured to be directed toward a bottom surface of the deformable membrane. The imaging sensor is configured to capture an image of the deformable membrane. The deformable sensor is configured to determine depth values for a plurality of points on the deformable membrane based on the image captured by the imaging sensor and a trained neural network.

Robust and perceptive manipulation through soft-bubble grippers and monocular depth

A pressure sensor device includes a base layer, a deformable layer bonded to the base layer such that the base layer and the deformable layer define at least one inflatable chamber, and at least one pressure sensor fluidly coupled to the at least one inflatable chamber and operable to produce a signal indicative of a pressure within the at least one inflatable chamber.

Pressure sensor devices and robots including the same

A sensor device includes an inflatable diaphragm operable to be disposed on a member, and an array of force sensors disposed about the inflatable diaphragm. The array of force sensors provides one or more signals indicative of a location of contact between an object and the inflatable diaphragm.

Sensor devices including force sensors and robots incorporating the same

A method and system for adjusting vehicle operations. Wheel sensors are disposed to detect parameters associated with treads of wheels and parameters associated with road conditions. An electronic control unit receives information from the wheel sensors. The electronic control unit determines a performance metric of the wheels based on the parameters associated with treads. The electronic control unit receives determine adjustments for operation of the vehicle based on the performance metric and the parameters associated with road conditions.

Wheel well mounted depth sensors for tire monitoring

Systems and methods for estimating deformation and field of contact forces are described. A method includes generating a reference configuration including reference points in space. The reference configuration corresponds to an initial shape of a membrane prior to contact with the manipuland. The method further includes receiving raw data from a TOF device. The raw data includes points in space measured by the TOF device and indicating deformation of the membrane due to contact with the manipuland. The method further includes determining deformation of the membrane that best approximates a current configuration in a least squares sense while satisfying a discrete physical model enforced as a linear constraint that corresponds to a linearized physical model of the deformation that is discretized with an FEM, linearizing the relationship, and estimating deformation and field of contact forces by solving a least squares formulation with physical constraints cast as a sparse quadratic program.

Systems and methods for estimating shape, contact forces, and pose of objects manipulated by robots having compliant contact and geometry sensors

A robot includes a rail system, a body structure coupled to the rail system, a first arm coupled to a first side of the body structure, one or more first arm actuators providing the first arm with multiple degrees of freedom, a second arm coupled to a second side of the body structure, one or more second arm actuators providing the second arm with multiple degrees of freedom, a lift actuator operable to move the body structure along the rail system, and a tilt structure coupled to the body structure. The first arm actuators and the second arm actuators are operable to wrap the first arm and the second arm around an object and hold the object against the body structure. The tilt structure is operable to tilt the body structure. The lift actuator is operable to move the body structure such that the object is lifted.

Robots having a lift actuator and a tilt structure for lifting and supporting large objects

Structures and sensor assemblies having engagement structures for securing a compliant substrate assembly are disclosed. In one embodiment, a sensor assembly includes a compliant substrate assembly having a base layer, and a deformable layer heat-sealed to the base layer such that the base layer and the deformable layer define at least one inflatable chamber. The sensor assembly further includes a first member proximate to a first edge of the compliant substrate assembly, a second member proximate to a second edge of the compliant substrate assembly, wherein the second edge is opposite the first edge, and at least one pressure sensor fluidly coupled to the at least one inflatable chamber and operable to produce a signal indicative of a pressure within the at least one inflatable chamber.

Structures and sensor assemblies having engagement structures for securing a compliant substrate assembly

Systems and methods for determining a location of a robot are provided. A method includes receiving, by a processor, a signal from a deformable sensor including data with respect to a deformation region in a deformable membrane of the deformable sensor resulting from contact with a first object. The data associated with contact with the first object is compared, by the processor, to details associated with contact with the first object to information associated with a plurality of objects stored in a database. The first object is identified, by the processor, as a first identified object of the plurality of objects stored in the database. The first identified object is an object of the plurality of objects stored in the database that is most similar to the first object. The location of the robot is determined, by the processor, based on a location of the first identified object.

Systems for determining location using robots with deformable sensors

Sensors having a deformable layer and an outer cover layer and robots incorporating the same are disclosed. In one embodiment, a sensor includes an inflatable diaphragm operable to be disposed on a member, wherein the inflatable diaphragm includes a port. The sensor further includes an outer cover layer disposed around the inflatable diaphragm, wherein the outer cover layer is fabricated from a material having a strength of greater than or equal to 35 cN/dtex, and a pressure sensor fluidly coupled to the port and operable to detect a pressure within the inflatable diaphragm.

Growing community of inventors

Somerville, MA, United States of America

Alexander Alspach