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

Claim 13:
14. A robotic system comprising:
at least one end effector comprising at least one tactile sensor, wherein the at least one end effector is configured to manipulate an object; and
at least one processor operatively coupled to the at least one tactile sensor, wherein the at least one processor is configured to:
receive signals from the at least one tactile sensor;
control a contact state by operating the at least one end effector to enforce a desired contact condition between the end effector and the object;
estimate a pose of the object based on the received signals; and
plan 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;
manipulate the object with the end effector according to the at least one trajectory;
continue 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
update 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.