US 11,951,633 B2
Systems for determining location using robots with deformable sensors
Alexander Alspach, Somerville, MA (US); Naveen Suresh Kuppuswamy, Arlington, MA (US); Avinash Uttamchandani, Cambridge, MA (US); Samson F. Creasey, Cambridge, MA (US); Russell L Tedrake, Needham, MA (US); Kunimatsu Hashimoto, Brookline, MA (US); Erik C. Sobel, Newton, MA (US); and Takuya Ikeda, Nagakute (JP)
Assigned to Toyota Research Institute, Inc., Los Altos, CA (US); and Toyota Jidosha Kabushiki Kaisha, Toyota (JP)
Filed by Toyota Research Institute, Inc., Los Altos, CA (US); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Jan. 10, 2023, as Appl. No. 18/152,277.
Application 18/152,277 is a continuation of application No. 16/931,626, filed on Jul. 17, 2020, granted, now 11,577,395.
Claims priority of provisional application 62/977,466, filed on Feb. 17, 2020.
Claims priority of provisional application 62/984,083, filed on Mar. 2, 2020.
Prior Publication US 2023/0158674 A1, May 25, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 13/08 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01)
CPC B25J 9/1674 (2013.01) [B25J 9/0009 (2013.01); B25J 9/161 (2013.01); B25J 9/1664 (2013.01); B25J 13/085 (2013.01); B25J 13/089 (2013.01); B25J 9/1697 (2013.01); B25J 11/0085 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for determining a location of a robot including a deformable sensor, the method comprising:
receiving, by a processor, a signal from the deformable sensor comprising data with respect to a deformation region in a deformable membrane of the deformable sensor resulting from contact with a first object;
identifying, by the processor, the first object as a first identified object; and
determining, by the processor, a location of the robot based on a known location of the first identified object.