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:
Oct. 02, 2012
Filed:
May. 28, 2009
Robert Platt, Houston, TX (US);
Frank Noble Permenter, Webster, TX (US);
Craig M. Corcoran, Bellaire, TX (US);
Charles W. Wampler, Ii, Birmingham, MI (US);
Robert Platt, Houston, TX (US);
Frank Noble Permenter, Webster, TX (US);
Craig M. Corcoran, Bellaire, TX (US);
Charles W. Wampler, II, Birmingham, MI (US);
GM Global Technology Operations LLC, Detroit, MI (US);
The United State of America as represented by the Administrator of the National Aeronautics and Space Administration, Washington, DC (US);
Abstract
A method for identifying the location, orientation and shape of an object that a robot hand touches that includes using a particle filter. The method includes defining an appropriate motion model and a measurement model. The motion model characterizes the motion of the robot hand as it moves relative to the object. The measurement model estimates the likelihood of an observation of contact position, velocity and tactile sensor information given hand-object states. The measurement model is approximated analytically based on a geometric model or based on a corpus of training data. In either case, the measurement model distribution is encoded as a Gaussian or using radial basis functions.