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 method for touch based surface interaction, the method comprising:
orienting a device with respect to a surface; converging the device to the surface; measuring a normal force between the device and the surface; measuring a translational resistive force between the device and the surface; and controlling lateral motion of the device to maintain a predetermined normal force and a predetermined translational resistive force.