Modular Robotic Manipulation

摘要

A system for interaction with a the environment includes an initial manipulation module operable to orient a device in a general direction of a surface of an object and a range control module operable to converge the device and the surface. Once the device and surface are in the proximity of each other a contact sensor detects when physical contact between the surface and the device occurs. Thereafter, a proprioception module measures normal force disparities between the surface and device motion actuators and finally, an exteroception module to measure translational resistance disparities between relative motion of the surface and the device. The system uses these disparity measurements and actuator positions to modify the manipulation of the device.

主权项

1. A system for controlling contact between two objects, comprising:
a plurality of sensors including a plurality of ultra wide brand (UWB) transceivers and a contact sensor wherein the plurality of UWB transceivers creates a relative representation between a first object and a second object and wherein the relative representation provides relative positional and translational information about the first object and the second object and wherein the contact sensor detects physical contact between the first object and a surface of the second object; and a processor capable of executing instructions and communicatively coupled to the plurality of sensors and to a non-transitory memory storing modules of instructions, including
an initial manipulation module wherein the initial manipulation module selects a deliberative behavior to orient the first object with the second object based on the relative awareness of the environment, anda range control module wherein the range control module modifies the deliberate behavior based on the relative awareness and orientation of the first object with respect to the second object to initiate contact between the first object and the second object.