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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.:

US 12131529 B1

PDFFull Text
Date of Patent:
Oct. 29, 2024

Filed:

Jan. 18, 2023

Virtual teach and repeat mobile manipulation system

Applicant:

Toyota Research Institute, Inc., Los Altos, CA (US);

Inventors:

Jeremy Ma, San Jose, CA (US);

Josh Petersen, Mountain View, CA (US);

Umashankar Nagarajan, Sunnyvale, CA (US);

Michael Laskey, Los Altos, CA (US);

Daniel Helmick, Cupertino, CA (US);

James Borders, Los Gatos, CA (US);

Krishna Shankar, Los Altos, CA (US);

Kevin Stone, Menlo Park, CA (US);

Max Bajracharya, Millbrae, CA (US);

Assignee:

TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US);

Attorney:

Seyfarth Shaw LLP

Primary Examiner:

B M M Hannan

Int. Cl.
CPC ...
B25J 9/16 (2006.01); G06F 18/214 (2023.01); G06F 18/28 (2023.01); G06N 3/08 (2023.01); G06T 7/246 (2017.01); G06T 7/33 (2017.01); G06T 7/55 (2017.01); G06T 7/73 (2017.01); G06T 19/20 (2011.01); G06V 10/75 (2022.01); G06V 10/764 (2022.01); G06V 10/774 (2022.01); G06V 10/82 (2022.01); G06V 20/10 (2022.01); G06V 20/20 (2022.01);
U.S. Cl.
CPC ...
G06V 20/10 (2022.01); B25J 9/1605 (2013.01); B25J 9/1661 (2013.01); B25J 9/1664 (2013.01); B25J 9/1671 (2013.01); B25J 9/1697 (2013.01); G06F 18/214 (2023.01); G06F 18/28 (2023.01); G06N 3/08 (2013.01); G06T 7/248 (2017.01); G06T 7/33 (2017.01); G06T 7/55 (2017.01); G06T 7/74 (2017.01); G06T 19/20 (2013.01); G06V 10/751 (2022.01); G06V 10/764 (2022.01); G06V 10/774 (2022.01); G06V 10/82 (2022.01); G06V 20/20 (2022.01); B25J 9/163 (2013.01); G05B 2219/37567 (2013.01); G05B 2219/40543 (2013.01); G05B 2219/40564 (2013.01); G06T 2200/04 (2013.01); G06T 2207/10016 (2013.01); G06T 2207/10024 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20104 (2013.01);
Abstract

A method for performing a task by a robotic device includes mapping a group of task image pixel descriptors associated with a first group of pixels in a task image of a task environment to a group of teaching image pixel descriptors associated with a second group of pixels in a teaching image based on positioning the robotic device within the task environment. The method also includes determining a relative transform between the task image and the teaching image based on mapping the plurality of task image pixel descriptors. The relative transform indicates a change in one or more of points of 3D space between the task image and the teaching image. The method also includes performing the task associated with the set of parameterized behaviors based on updating one or more parameters of a set of parameterized behaviors associated with the teaching image based on determining the relative transform.

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