US 12,151,361 B2
Robust and perceptive manipulation through soft-bubble grippers and monocular depth
Rares A. Ambrus, San Francisco, CA (US); Vitor Guizilini, Santa Clara, CA (US); Naveen Suresh Kuppuswamy, Arlington, MA (US); Andrew M. Beaulieu, Somerville, MA (US); Adrien D. Gaidon, Mountain View, CA (US); and Alexander Alspach, Woburn, MA (US)
Assigned to Toyota Research Institute, Inc., Los Altos, CA (US)
Filed by Toyota Research Institute, Inc., Los Altos, CA (US)
Filed on Jan. 13, 2021, as Appl. No. 17/147,935.
Claims priority of provisional application 63/057,011, filed on Jul. 27, 2020.
Prior Publication US 2022/0024048 A1, Jan. 27, 2022
Int. Cl. B25J 13/08 (2006.01); B25J 9/16 (2006.01); G01B 11/24 (2006.01)
CPC B25J 13/082 (2013.01) [B25J 9/1612 (2013.01); B25J 9/163 (2013.01); B25J 9/1697 (2013.01); G01B 11/24 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A deformable sensor comprising:
an enclosure comprising a deformable membrane, the enclosure configured to be filled with a medium; and
an imaging sensor disposed within the enclosure, having a field of view configured to be directed toward a bottom surface of the deformable membrane,
wherein the imaging sensor is configured to capture an RGB_image of the deformable membrane; and
wherein the deformable sensor is configured to determine depth values for a plurality of points on the deformable membrane based on the RGB image captured by the imaging sensor and a trained neural network that takes the RGB image as input and outputs depth values.