Samsung Electronics Co., Ltd.

Hyunjune Sebastian Seung

Lawrence David Jackel

Daniel Dongyuel Lee

Ibrahim Volkan Isler

Dae Won Lee

Xiaoran Fan

Yuan Chen

Colin Prepscius

A method of collision localization on a robotic device includes obtaining audio signals from a plurality of acoustic sensors spaced apart along the robotic device; identifying, based on a collision being detected, a strongest audio signal; identifying a primary onset time for an acoustic sensor producing the strongest audio signal, the primary onset time being a time at which waves propagating from the collision reach the acoustic sensor producing the strongest audio signal; generating a virtual onset time set, by shifting a calibration manifold, based on the identified primary onset time, the calibration manifold representing relative onset times from evenly spaced marker locations on the robotic device to the plurality of acoustic sensors; determining scores for the marker locations based a standard deviation of elements in the virtual onset time set; and estimating a location of the collision based on a highest score of the determined scores.

Acoustic collision detection and localization for robotic devices

Growing community of inventors

Princeton, NJ, United States of America

Hyunjune Sebastian Seung