US 12,246,448 B2
System and method for object shape identification and pose measurement using multi-fingered hand
Chinpei Tang, Troy, MI (US); and Alexander Zak, Troy, MI (US)
Assigned to MAGNA INTERNATIONAL INC., Aurora (CA)
Appl. No. 17/617,992
Filed by MAGNA INTERNATIONAL INC., Aurora (CA); Chinpei Tang, Troy, MI (US); and Alexander Zak, Troy, MI (US)
PCT Filed Jun. 11, 2020, PCT No. PCT/US2020/037165
§ 371(c)(1), (2) Date Dec. 10, 2021,
PCT Pub. No. WO2020/252122, PCT Pub. Date Dec. 17, 2020.
Claims priority of provisional application 62/859,894, filed on Jun. 11, 2019.
Prior Publication US 2022/0314439 A1, Oct. 6, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1612 (2013.01) [B25J 13/084 (2013.01); B25J 13/089 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for determining a physical characteristic and pose of an object, the system comprising:
a controller and a processor with instructions stored thereon;
a grasping device in communication with the controller, the grasping device configured to grasp an object, wherein the grasping device includes a plurality of fingers attached to a base and the fingers are moveable relative to the base; and
one or more tactile sensors attached to the fingers, the tactile sensors configured to detect first data associated with a physical characteristic of the object when the object is grasped by the grasping device;
wherein the controller is configured to receive the data from the tactile sensors and to store the data;
wherein the fingers are configured to roll the object within the fingers while the object is being grasped, and the tactile sensors are configured to provide second data to the controller associated with additional physical characteristics of the object;
wherein the controller is configured to obtain the second data associated with additional physical characteristics while the fingers are grasping the object and rolling the object; and
wherein the controller is configured to combine the first data and the second data into combined data, and configured to determine a shape and pose of the object from the combined data.