The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 10, 2019
Filed:
Apr. 20, 2017
X Development Llc, Mountain View, CA (US);
Robert Wilson, Pacifica, CA (US);
X DEVELOPMENT LLC, Mountain View, CA (US);
Abstract
Techniques are provided for achieving stable tracking and/or manipulation by robots of objects. In various implementations, it may be detected, based on force signal(s) from force sensor(s), that an end effector of the robot has made physical contact with an environmental object. Based on the force signal(s), end effector constraint(s) may be identified. These constraint(s) may include a position constraint associated with position control of the end effector and/or a grasp force constraint associated with grasp force control of the end effector. Error measure(s) may be determined based on a measured position/force of the end effector. The error measure(s) may include a position control and/or grasp control error. The measured position and/or force may be compared with the end effector constraint(s) to reduce an impact of the error measure(s) on operation of the robot.