Patent ID: 11878415
Assignee: MASSACHUSETTS INSTITUTE OF TECHNOLOGY
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 25:
26. At least one non-transitory computer-readable storage medium having encoded thereon executable instructions that, when executed, cause at least one processor to carry out a method of manipulating an object based on tactile sensing, the method comprising:
sensing an object by receiving signals from a tactile sensor of an end effector of a robotic system in contact with the object;
controlling a contact state by operating the end effector to enforce a desired contact condition between the end effector and the object;
estimating a pose of the object based on the received signals; and
planning at least one trajectory of the object based on the estimated pose of the object and a desired pose of the object, wherein the at least one trajectory is configured to move the object to the desired pose;
manipulating the object with the end effector according to the at least one trajectory to move the object to the desired pose;
continuing to estimate the pose of the object and the contact state during manipulation of the object as the object is moved to the desired pose; and
updating the at least one trajectory based on a change in the estimated pose and/or the contact state relative to the end effector during manipulation of the object as the object is moved to the desired pose, wherein the updated at least one trajectory is configured to move the object to the desired pose.