Patent Publication Number: US-2023158674-A1

Title: Systems for determining location using robots with deformable sensors

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application is a continuation of U.S. patent application Ser. No. 16/931,626, filed on Jul. 17, 2020, for “Systems For Determining Location Using Robots With Deformable Sensors,” and claims priority to U.S. Provisional Patent Application No. 62/977,466, filed Feb. 17, 2020, for “Systems For Determining Location Using Robots With Bubble Sensors,” and U.S. Provisional Patent Application No. 62/984,083, filed on Mar. 2, 2020, for “Bubble Sensor Grippers For Robust Manipulation And Manipuland State Estimation,” which are hereby incorporated by reference in their entirety including the drawings. 
    
    
     TECHNICAL FIELD 
     Embodiments described herein generally relate to systems and methods for determining a location of a robot within a space and, more particularly, robots having deformable contact and geometry/pose sensors capable of detecting contact and a geometry of an object to determine a location of the robot. 
     BACKGROUND 
     As humans, our sense of touch allows us to determine the shape of an object without looking at the object. This assists us in identifying the object and, without using our sense of sight, we may be able to ascertain where we are located within a space based on our knowledge of the location of the objected touched. 
     Robots are commonly equipped with end effectors that are configured to perform certain tasks. However, robots do not have varying levels of touch sensitivity as do humans. End effectors may include sensors such as pressure sensors, but such sensors provide limited information about the object that is in contact with the end effector. Thus, the robot may damage a target object by using too much force, or drop the object because it does not properly grasp the object. As such, in some applications, a deformable/compliant end effector may be desirable. 
     However, robots are currently not capable of contacting an object in this manner and, as a result, the robots are not capable of identifying the object. Therefore, to determine a position or location of the robot, robots rely on other technology, such as GPS sensors or visual sensors, to identify the location of the robot. However, these may turn out to be inaccurate in small-scale environments. 
     SUMMARY 
     In one embodiment, a method for determining a location of a robot including a deformable sensor includes receiving, by a processor, a signal from a deformable sensor including data with respect to a deformation region in a deformable membrane of the deformable sensor resulting from contact with a first object. The data associated with contact with the first object is compared, by the processor, to details associated with contact with the first object to information associated with a plurality of objects stored in a database. The first object is identified, by the processor, as a first identified object of the plurality of objects stored in the database. The first identified object is an object of the plurality of objects stored in the database that is most similar to the first object. The location of the robot is determined, by the processor, based on a location of the first identified object. 
     In another embodiment, a robot for determining a location within a space includes a casing including an upper surface, an opposite lower surface, and an edge surface extending between the upper surface and the lower surface. At least one deformable sensor is provided on the casing. The at least one deformable sensor includes an internal sensor and a deformable membrane. The internal sensor is configured to output a deformation region with the deformable membrane as a result of contact with a first object. The robot includes one or more processors and one or more memory modules including a computer-readable medium storing computer-readable instructions that, when executed by the one or more processors, cause the one or more processors to receive data from the internal sensor representing the deformation region when the first object is contacted. The data associated with contact of the first object is compared by the processor to details associated with a plurality of objects stored in a database. The first identified object is an object of the plurality of objects stored in the database that is most similar to the first object. The processor identifies the first object as a first identified object of the plurality of objects stored in the database. A location of the robot is determined by the processor based on a location of the first identified object. 
     In yet another embodiment, a system for determining a location of a robot including a deformable sensor includes a robot including an upper surface, an opposite lower surface, and an edge surface extending between the upper surface and the lower surface. At least one deformable sensor is provided on the robot. The at least one deformable sensor includes a housing, a deformable membrane coupled to an upper portion of the housing, an enclosure configured to be filled with a medium, and an internal sensor disposed within the enclosure having a field of view configured to be directed through the medium and toward a bottom surface of the deformable membrane. The internal sensor is configured to output a deformation region within the deformable membrane as a result of contact with a first object. The system includes one or more processors and one or more memory modules including a computer-readable medium storing computer-readable instructions that, when executed by the one or more processors, cause the one or more processors to receive data from the internal sensor representing the deformation region when the first object is contacted. The data associated with contact of the first object is compared by the processor to details associated with a plurality of objects stored in a database. The first identified object is an object of the plurality of objects stored in the database that is most similar to the first object. The processor identifies the first object as a first identified object of the plurality of objects stored in the database. A location of the robot is determined by the processor based on a location of the first identified object. 
     These and additional features provided by the embodiments described herein will be more fully understood in view of the following detailed description, in conjunction with the drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The embodiments set forth in the drawings are illustrative and exemplary in nature and not intended to limit the subject matter defined by the claims. The following detailed description of the illustrative embodiments can be understood when read in conjunction with the following drawings, where like structure is indicated with like reference numerals and in which: 
         FIG.  1    schematically depicts a perspective view of an example robot including a plurality of deformable sensors according to one or more embodiments described and illustrated herein; 
         FIG.  2    is a block diagram illustrating hardware utilized by the robot of  FIG.  1    for implementing various processes and systems according one or more embodiments described and illustrated herein; 
         FIG.  3    schematically depicts a cross-sectional view of an example deformable sensor according to one or more embodiments described and illustrated herein; 
         FIG.  4    schematically depicts a top perspective view of the example deformable sensor of  FIG.  3    according to one or more embodiments described and illustrated herein; 
         FIG.  5    schematically depicts a cross-sectional view of an example deformable sensor according to one or more embodiments described and illustrated herein; 
         FIG.  6    schematically depicts a rear perspective view of a bubble module of the example deformable sensor of  FIG.  5    according to one or more embodiments described and illustrated herein; 
         FIG.  7    schematically depicts an exploded view of the bubble sensor of  FIG.  6    according to one or more embodiments described and illustrated herein; 
         FIG.  8    schematically depicts a filter layer coupled to a deformable membrane of a deformable sensor according to one or more embodiments described and illustrated herein; 
         FIG.  9    schematically depicts a filter within a field of view of an internal sensor of a deformable sensor according to one or more embodiments described and illustrated herein; 
         FIG.  10    schematically depicts a dot pattern on a bottom surface of a deformable membrane of a deformable sensor according to one or more embodiments described and illustrated herein; 
         FIG.  11    schematically depicts a grid pattern on a bottom surface of a deformable membrane of a deformable sensor according to one or more embodiments described and illustrated herein; 
         FIG.  12    schematically depicts a compound internal sensor having a plurality of internal sensors according to one or more embodiments described and illustrated herein; 
         FIG.  13    is an image depicting an output of a deformable sensor on an electronic display according to one or more embodiments described and illustrated herein; 
         FIG.  14    is a flow chart depicting an exemplary process of determining the pose and force associated with an object in contact with a deformable sensor according to one or more embodiments described and illustrated herein; 
         FIG.  15    schematically depicts an overhead view of a space in which the robot is utilized and performs an operation according to one or more embodiments described and illustrated herein; and 
         FIG.  16    is a flow chart depicting an exemplary process of determining a location of the robot within a space according to one or more embodiments described and illustrated herein. 
     
    
    
     DETAILED DESCRIPTION 
     Embodiments of the present disclosure are directed to robots including deformable sensors and, more particularly, deformable/compliant contact and/or geometry sensors (hereinafter “deformable sensors”) that not only detect contact with a target object, but also detect the geometry, pose, and contact force of the target object to identify a location of the robots. Particularly, the deformable sensors described herein comprise a deformable membrane coupled to a housing that maintains a sensor capable of detecting displacement of the deformable membrane by contact with an object. Thus, the deformable sensors described herein provide a robot (or other device) with a sense of touch when manipulating or contacting objects. 
     Autonomous robots are used for accomplishing various tasks and may efficiently navigate a space, such as a building or an individual room. Such tasks may include retrieving an item, delivering an item, or, in the case of an autonomous vacuum, cleaning a room. Known autonomous vacuums map a space, such as a room of a house, by driving in straight directions until an object, such as a wall, step, or other obstacle is contacted, and the robot stores the location information of the contacted object in its memory as an object to be avoided during future cleaning operations. As additional objects are contacted, the robot continually adds location information of these objects to its memory to more accurately map the room and avoid these objects in the future. 
     As shown in  FIG.  1   , an example robot  100  is illustrated as an autonomous vacuum and the robot operation referred to herein is a cleaning operation. However, it should be appreciated that the robot  100  may be any other suitable robot other than an autonomous vacuum for performing other tasks without departing from the scope of the present disclosure. For example, the robot  100  may be an object retrieval or delivery robot instructed to navigate a space between a starting point and a destination point. 
     The robot  100  generally includes a casing  102  defined by an upper surface  104 , an opposite lower surface  106 , and an edge surface  108  extending between the upper surface  104  and the lower surface  106 . The casing  102  houses the internal components of the robot  100 , described herein. The lower surface  106  of the casing  102  faces a downward direction toward a floor surface F and the upper surface  104  faces in an opposite upward direction. It should be understood that embodiments are not limited to the casing  102  configuration of  FIG.  1   , and the various surfaces may take on other shapes. At least one wheel  110  is provided on the lower surface  106  of the casing  102  to permit the robot  100  to traverse the floor surface F. In some embodiments, the robot  100  includes a pair of wheels  110 . In other embodiments, the robot  100  may include legs including joints, skis, rails, or flying components for moving or transporting the robot  100 . 
     Further, the robot  100  includes at least one deformable sensor  112  provided on the edge surface  108  of the casing  102 . In some embodiments, the robot  100  includes a plurality of deformable sensors  112  spaced apart from one another along the edge surface  108  of the casing  102 . In embodiments in which a plurality of deformable sensors  112  are provided, the plurality of deformable sensors  112  may be spaced apart and arranged along the edge surface  108  of the casing  102  in any suitable manner. However, in some embodiments, the deformable sensors  112  may be located on the upper surface  104  and/or the lower surface  106  of the casing  102 . When the deformable sensors  112  are located on the lower surface  106  of the casing  102 , the deformable sensors  112  may be suitable for sensing the type of floor the robot  100  is rolling over, the height a threshold, or the like. In other embodiments, the robot  100  may include any number of arms including joints with an end effector attached to an end of the arm. In this embodiment, the deformable sensors  112  may be provided on the end effector and independently movable with respect to the robot  100 . 
     The deformable sensors  112  provided on the robot  100  may be any suitable deformable sensors, such as those embodiments discussed herein, capable of identifying characteristics, such as geometry, pose, hardness, flexibility, and the like, of an object contacted. The ensuing description of the robot  100  will refer to the deformable sensors  112  generally with regard to their use in identifying an object and assisting the robot  100  in determining its location. 
     Referring now to  FIG.  2   , example components of one non-limiting embodiment of the robot  100  is schematically depicted. In some embodiments, the robot  100  includes a communication path  228 , a processor  230 , a memory module  232 , an inertial measurement unit  236 , an input device  238 , a camera  244 , network interface hardware  246 , a location sensor  250 , a light  252 , a proximity sensor  254 , a motorized wheel assembly  258 , a battery  260 , and a charging port  262 . The components of the robot  100  may be contained within or mounted to the casing  102 . The various components of the robot  100  and the interaction thereof will be described in detail below. 
     Still referring to  FIG.  2   , the communication path  228  may be formed from any medium that is capable of transmitting a signal such as, for example, conductive wires, conductive traces, optical waveguides, or the like. Moreover, the communication path  228  may be formed from a combination of mediums capable of transmitting signals. In one embodiment, the communication path  228  comprises a combination of conductive traces, conductive wires, connectors, and buses that cooperate to permit the transmission of electrical data signals to components such as processors, memories, sensors, input devices, output devices, and communication devices. Accordingly, the communication path  228  may comprise a bus. Additionally, it is noted that the term “signal” means a waveform (e.g., electrical, optical, magnetic, mechanical or electromagnetic), such as DC, AC, sinusoidal-wave, triangular-wave, square-wave, vibration, and the like, capable of traveling through a medium. The communication path  228  communicatively couples the various components of the robot  100 . As used herein, the term “communicatively coupled” means that coupled components are capable of exchanging data signals with one another such as, for example, electrical signals via conductive medium, electromagnetic signals via air, optical signals via optical waveguides, and the like. 
     The processor  230  of the robot  100  may be any device capable of executing computer-readable instructions. Accordingly, the processor  230  may be a controller, an integrated circuit, a microchip, a computer, or any other computing device. The processor  230  may be communicatively coupled to the other components of the robot  100  by the communication path  228 . This may, in various embodiments, allow the processor  230  to receive data from the one or more deformable sensors  112 . In other embodiments, the processor  230  may receive data directly from one or more internal sensors, which are part of one or more deformable sensors  112  on a robot  100 . Accordingly, the communication path  228  may communicatively couple any number of processors with one another, and allow the components coupled to the communication path  228  to operate in a distributed computing environment. Specifically, each of the components may operate as a node that may send and/or receive data. While the embodiment depicted in  FIG.  2    includes a single processor  230 , other embodiments may include more than one processor. 
     Still referring to  FIG.  2   , the memory module  232  of the robot  100  is coupled to the communication path  228  and communicatively coupled to the processor  230 . The memory module  232  may, for example, contain computer-readable instructions to detect a shape of an object that has deformed the deformable sensors  112 . In this example, these instructions stored in the memory module  232 , when executed by the processor  230 , may allow for the determination of the shape of an object based on the observed deformation of the deformable sensors  112 . The memory module  232  may comprise RAM, ROM, flash memories, hard drives, or any non-transitory memory device capable of storing computer-readable instructions such that the computer-readable instructions can be accessed and executed by the processor  230 . The computer-readable instructions may comprise logic or algorithm(s) written in any programming language of any generation (e.g., 1GL, 2GL, 3GL, 4GL, or 5GL) such as, for example, machine language that may be directly executed by the processor, or assembly language, object-oriented programming (OOP), scripting languages, microcode, etc., that may be compiled or assembled into computer-readable instructions and stored in the memory module  232 . Alternatively, the computer-readable instructions may be written in a hardware description language (HDL), such as logic implemented via either a field-programmable gate array (FPGA) configuration or an application-specific integrated circuit (ASIC), or their equivalents. Accordingly, the functionality described herein may be implemented in any conventional computer programming language, as pre-programmed hardware elements, or as a combination of hardware and software components. While the embodiment depicted in  FIG.  2    includes a single memory module  232 , other embodiments may include more than one memory module. 
     The inertial measurement unit  236 , if provided, is coupled to the communication path  228  and communicatively coupled to the processor  230 . The inertial measurement unit  236  may include one or more accelerometers and one or more gyroscopes. The inertial measurement unit  236  transforms sensed physical movement of the robot  100  into a signal indicative of an orientation, a rotation, a velocity, or an acceleration of the robot  100 . The operation of the robot  100  may depend on an orientation of the robot  100  (e.g., whether the robot  100  is horizontal, tilted, or the like). Some embodiments of the robot  100  may not include the inertial measurement unit  236 , such as embodiments that include an accelerometer but not a gyroscope, embodiments that include a gyroscope but not an accelerometer, or embodiments that include neither an accelerometer nor a gyroscope. 
     One or more input devices  238  are coupled to the communication path  228  and communicatively coupled to the processor  230 . The input device  238  may be any device capable of transforming user contact into a data signal that can be transmitted over the communication path  228  such as, for example, a button, a switch, a knob, a microphone or the like. In various embodiments, an input device  238  may be the deformable sensor  112  as described herein. In some embodiments, the input device  238  includes a power button, a volume button, an activation button, a scroll button, or the like. The one or more input devices  238  may be provided so that the user may interact with the robot  100 , such as to navigate menus, make selections, set preferences, and other functionality described herein. In some embodiments, the input device  238  includes a pressure sensor, a touch-sensitive region, a pressure strip, or the like. It should be understood that some embodiments may not include the input device  238 . As described in more detail below, embodiments of the robot  100  may include multiple input devices disposed on any surface of the casing  102 . In some embodiments, one or more of the input devices  238  are configured as a fingerprint sensor for unlocking the robot  100 . For example, only a user with a registered fingerprint may unlock and use the robot  100 . 
     The camera  244  is coupled to the communication path  228  and communicatively coupled to the processor  230 . The camera  244  may be any device having an array of sensing devices (e.g., pixels) capable of detecting radiation in an ultraviolet wavelength band, a visible light wavelength band, or an infrared wavelength band. The camera  244  may have any resolution. The camera  244  may be an omni-directional camera, or a panoramic camera. In some embodiments, one or more optical components, such as a mirror, fish-eye lens, or any other type of lens may be optically coupled to the camera  244 . As described in more detail below, the camera  244  is a component of an imaging assembly  222  operable to be raised above the casing  102  to capture image data. 
     The network interface hardware  246  is coupled to the communication path  228  and communicatively coupled to the processor  230 . The network interface hardware  246  may be any device capable of transmitting and/or receiving data via a network  270 . Accordingly, network interface hardware  246  can include a wireless communication module configured as a communication transceiver for sending and/or receiving any wired or wireless communication. For example, the network interface hardware  246  may include an antenna, a modem, LAN port, Wi-Fi card, WiMax card, mobile communications hardware, near-field communication hardware, satellite communication hardware and/or any wired or wireless hardware for communicating with other networks and/or devices. In one embodiment, network interface hardware  246  includes hardware configured to operate in accordance with the Bluetooth wireless communication protocol. In another embodiment, network interface hardware  246  may include a Bluetooth send/receive module for sending and receiving Bluetooth communications to/from a portable electronic device  280 . The network interface hardware  246  may also include a radio frequency identification (“RFID”) reader configured to interrogate and read RFID tags. 
     In some embodiments, the robot  100  may be communicatively coupled to a portable electronic device  280  via the network  270 . In some embodiments, the network  270  is a personal area network that utilizes Bluetooth technology to communicatively couple the robot  100  and the portable electronic device  280 . In other embodiments, the network  270  may include one or more computer networks (e.g., a personal area network, a local area network, or a wide area network), cellular networks, satellite networks and/or a global positioning system and combinations thereof. Accordingly, the robot  100  can be communicatively coupled to the network  270  via wires, via a wide area network, via a local area network, via a personal area network, via a cellular network, via a satellite network, or the like. Suitable local area networks may include wired Ethernet and/or wireless technologies such as, for example, wireless fidelity (Wi-Fi). Suitable personal area networks may include wireless technologies such as, for example, IrDA, Bluetooth, Wireless USB, Z-Wave, ZigBee, and/or other near field communication protocols. Suitable personal area networks may similarly include wired computer buses such as, for example, USB and FireWire. Suitable cellular networks include, but are not limited to, technologies such as LTE, WiMAX, UMTS, CDMA, and GSM. 
     As stated above, the network  270  may be utilized to communicatively couple the robot  100  with the portable electronic device  280 . The portable electronic device  280  may include a mobile phone, a smartphone, a personal digital assistant, a camera, a dedicated mobile media player, a mobile personal computer, a laptop computer, and/or any other portable electronic device capable of being communicatively coupled with the robot  100 . The portable electronic device  280  may include one or more processors and one or more memories. The one or more processors can execute logic to communicate with the robot  100 . The portable electronic device  280  may be configured with wired and/or wireless communication functionality for communicating with the robot  100 . In some embodiments, the portable electronic device  280  may perform one or more elements of the functionality described herein, such as in embodiments in which the functionality described herein is distributed between the robot  100  and the portable electronic device  280 . 
     The location sensor  250  is coupled to the communication path  228  and communicatively coupled to the processor  230 . The location sensor  250  may be any device capable of generating an output indicative of a location. In some embodiments, the location sensor  250  includes a global positioning system (GPS) sensor, though embodiments are not limited thereto. Some embodiments may not include the location sensor  250 , such as embodiments in which the robot  100  does not determine a location of the robot  100  or embodiments in which the location is determined in other ways (e.g., based on information received from the camera  244 , the network interface hardware  246 , the proximity sensor  254 , the inertial measurement unit  236  or the like). The location sensor  250  may also be configured as a wireless signal sensor capable of triangulating a location of the robot  100  and the user by way of wireless signals received from one or more wireless signal antennas. 
     The motorized wheel assembly  258  is coupled to the communication path  228  and communicatively coupled to the processor  230 . As described in more detail below, the motorized wheel assembly  258  includes the at least one wheel  110  driven by one or more motors (not shown). The processor  230  may provide one or more drive signals to the motorized wheel assembly  258  to actuate the wheels  110  such that the robot  100  travels to a desired location, such as a location that the user wishes to acquire environmental information (e.g., the location of particular objects within at or near the desired location). 
     The light  252 , if provided, is coupled to the communication path  228  and communicatively coupled to the processor  230 . The light  252  may be any device capable of outputting light, such as, but not limited to, a light emitting diode, an incandescent light, a fluorescent light, or the like. Some embodiments include a power indicator light that is illuminated when the robot  100  is powered on. Some embodiments include an activity indicator light that is illuminated when the robot  100  is active or processing data. Some embodiments include an illumination light for illuminating the environment in which the robot  100  is located. Some embodiments may not include the light  252 . 
     The proximity sensor  254 , if provided, is coupled to the communication path  228  and communicatively coupled to the processor  230 . The proximity sensor  254  may be any device capable of outputting a proximity signal indicative of a proximity of the robot  100  to another object. In some embodiments, the proximity sensor  254  may include a laser scanner, a capacitive displacement sensor, a Doppler effect sensor, an eddy-current sensor, an ultrasonic sensor, a magnetic sensor, an internal sensor, a radar sensor, a LiDAR sensor, a sonar sensor, or the like. Some embodiments may not include the proximity sensor  254 , such as embodiments in which the proximity of the robot  100  to an object is determined from inputs provided by other sensors (e.g., the camera  244 , etc.) or embodiments that do not determine a proximity of the robot  100  to an object. 
     The robot  100  may be powered by the battery  260 , which is electrically coupled to the various electrical components of the robot  100 . The battery  260  may be any device capable of storing electric energy for later use by the robot  100 . In some embodiments, the battery  260  is a rechargeable battery, such as a lithium-ion battery or a nickel-cadmium battery. In embodiments in which the battery  260  is a rechargeable battery, the robot  100  may include the charging port  262 , which may be used to charge the battery  260 . Some embodiments may not include the battery  260 , such as embodiments in which the robot  100  is powered the electrical grid, by solar energy, or by energy harvested from the environment. Some embodiments may not include the charging port  262 , such as embodiments in which the robot  100  utilizes disposable batteries for power. 
     Referring now to  FIGS.  3  and  4   , an embodiment of the deformable sensor  112 , of the robot  100  is schematically illustrated.  FIG.  3    is a cross-sectional view of the example deformable sensor  112  and  FIG.  4    is a top perspective view of the example deformable sensor  112 . The example deformable sensor  112  generally comprises a housing  310  and a deformable membrane  320  coupled to the housing  310 , such as by an upper portion  311  of the housing  310 . In some embodiments, the housing  310  is 3D printed. The housing  310  and the deformable membrane  320  define an enclosure  313  that is filled with a medium through one or more fluid conduits  312 , which may be a valve or any other suitable mechanism. The fluid conduit  312  may be utilized to fill or empty the enclosure  313 . In one example, the medium is gas, such as air. Thus, air may be pumped into the enclosure  313  to a desired pressure such that the deformable membrane  320  forms a dome shape as shown in  FIGS.  3  and  4   , although any suitable shape may be utilized in other embodiments. In another example, the medium is a gel, such as silicone or other rubber-like substance. In some embodiments, a substance such as solid silicone may be cast in a given shape before assembly of the deformable sensor  112 . In various embodiments, the medium may be anything that is transparent to an internal sensor  330 , discussed in more detail herein, such as to a wavelength of a time-of-flight sensor. The medium may include clear/transparent rubbers in some embodiments. In other embodiments, the medium may be a liquid. In some examples, the deformable membrane  320  and the medium within the enclosure  313  may be fabricated of the same material, such as, without limitation, silicone. In some embodiments, the deformable sensor  112  may be mountable. For example, the enclosure  313  may include brackets to be mounted any suitable object, such as the robot  100  or material. The deformable membrane  320  may be a latex or any other suitable material, such as a suitably thin, non-porous, rubber-like material. In some embodiments, the deformable membrane  320  is laser-cut from a 0.04 mm thick latex sheet. 
     As used herein, the term “deformability” may refer, for example, to ease of deformation of a deformable sensor. Deformability may refer to how easily a deformable membrane deforms when contacting a target object. The deformability of the deformable sensor  112  may be tuned/modified by changing the material of the deformable membrane  320  and/or the pressure within the enclosure  313 . By using a softer material (e.g., soft silicone), the deformable sensor  112  may be more easily deformed. Similarly, lowering the pressure within the enclosure  313  may also cause the deformable membrane  320  to more easily deform, which may in turn provide for a more deformable sensor  112 . In some embodiments, the deformable membrane  320  is inflated to a height of 20 mm to 75 mm and to a pressure of 0.20 psi to 0.30 psi. 
     As used herein, the term “spatial resolution” may refer, for example, to how many pixels a deformable sensor has. The number of pixels may range from 1 (e.g., a sensor that simply detects contact with a target object) to thousands or millions (e.g., the dense sensor provided by a time-of-flight sensor having thousands of pixels) or any suitable number. The deformable sensor  112  may be of a high spatial resolution, with a dense tactile sensing sensor that is provided as an end effector of the robot  100 , thereby giving the robot  100  a fine sense of touch like a human&#39;s fingers. The deformable sensor  112  may also have a depth resolution to measure movement toward and away from the sensor. In some embodiments, the deformable sensor  112  features varying touch sensitivity due to varying spatial resolution and/or depth resolution. 
     An internal sensor  330  capable of sensing depth may be disposed within the enclosure  313 , which may be measured by the depth resolution of the internal sensor  330 . The internal sensor  330  may have a field of view  332  directed through the medium and toward a bottom surface of the deformable membrane  320 . In some embodiments, the field of view  332  of the internal sensor  330  is 62°×45°+/−10%. In some embodiments, the internal sensor  330  may be an optical sensor. As described in more detail below, the internal sensor  330  may be capable of detecting deflections of the deformable membrane  320  when the deformable membrane  320  comes into contact with an object. In one example, the internal sensor  330  is a time-of-flight sensor capable of measuring depth. The time-of-flight sensor emits an optical signal (e.g., an infrared signal) and has individual detectors (i.e., “pixels”) that detect how long it takes for the reflected signal to return to the sensor. The time-of-flight sensor may have any desired spatial resolution. The greater the number of pixels, the greater the spatial resolution. The spatial resolution of the sensor disposed within the internal sensor  330  may be changed. In some cases, low spatial resolution (e.g., one “pixel” that detects a single point&#39;s displacement) may be desired. In others, a sensitive time-of-flight sensor such may be used as a high spatial resolution internal sensor  330  that provides dense tactile sensing. Thus, the internal sensor  330  may be modular because the sensors may be changed depending on the application. A non-limiting example of a time-of-flight sensor is the Pico Flexx sold by PMD Technologies AG of Siegen, Germany. Other types of visual internal sensors include, by way of non-limiting example, stereo cameras, laser range sensors, structured light sensors/3D scanners, single cameras (such as with dots or other patterns inside), or any other suitable type of visual detector. For example, the internal sensor  330  may be configured as a stereo-camera capable of detecting deflections of the deformable membrane  320  by an object. 
     Any suitable quantity and/or types of internal sensors  330  may be utilized within a single deformable sensor  112  in some embodiments. In some examples, not all internal sensors  330  within a deformable sensor  112  need be of the same type. In various embodiments, one deformable sensor  112  may utilize a single internal sensor  330  with a high spatial resolution, whereas another deformable sensor  112  may use a plurality of internal sensors  330  that each have a low spatial resolution. In some embodiments, the spatial resolution of a deformable sensor  112  may be increased due to an increase in the quantity of internal sensors  330 . In some examples, a decrease in the number of internal sensors  330  within a deformable sensor  112  can be compensated for by a corresponding increase in the spatial resolution of at least some of the remaining internal sensors  330 . As discussed in more detail below, the aggregate deformation resolution may be measured as a function of the deformation resolution or depth resolution among the deformable sensors  112  in a portion of the robot  100 . In some embodiments, aggregate deformation resolution may be based upon a quantity of deformable sensors  112  in a portion of the robot  100  and a deformation resolution obtained from each deformable sensor  112  in that portion. 
     Referring again to  FIG.  3   , a power conduit  314  may be utilized in the enclosure  313  to provide power and/or data/signals, such as to the internal sensor  330  by way of a cable, such as for USB (universal serial bus) or any other suitable type of power and/or signal/data connection. As used herein, an airtight conduit may include any type of passageway through which air or any other fluid (such as liquid) cannot pass. In this example, the power conduit  314  is airtight and may provide a passageway through which solid object (such as wires/cables) may pass through with an airtight seal, such as an O-ring, being formed around such wires/cables at each end of the power conduit  314 . Other embodiments utilize wireless internal sensors  330  to transmit and/or receive data and/or power. In various embodiments where the medium is not a gas, such as silicone, the enclosure  313  and/or power conduit  314  may not necessarily be airtight. 
     In some embodiments, the internal sensor  330  may include one or more internal pressure sensors (barometers, pressure sensors, etc., or any combination thereof) utilized to detect the general deformation of the deformable membrane  320  through the medium. In some embodiments, the deformable sensor  112  and/or internal sensor  330  may receive/send various data, such as through the power conduit  314  discussed above, wireless data transmission (Wi-Fi, Bluetooth, etc.), or any other suitable data communication protocol. For example, pressure within a deformable sensor  112  may be specified by a pressurization parameter and may be inversely proportional to the deformability of the deformable sensor  112 . In some embodiments, the deformability of a deformable sensor  112  may be modified by changing pressure within the enclosure  313  or a material of the deformable membrane  320 . In some embodiments, receipt of an updated parameter value may result in a real-time or delayed update (pressurization, etc.). 
     Referring now to  FIGS.  5 - 7   , another example deformable sensor  112 ′ is schematically illustrated.  FIG.  5    depicts a cross-sectional view of the deformable sensor  112 ′. The deformable sensor  112 ′ is similar to the deformable sensor  112  illustrated in  FIGS.  3  and  4   , and generally comprises a housing  410  and a bubble module  411  coupled to the housing  410 . The bubble module  411  includes a deformable membrane  420 , similar to deformable membrane  320  shown in  FIGS.  3  and  4   . As such, the deformable membrane  420  may include any of the features disclosed herein with respect to the deformable membrane  320 . The bubble module  411  of the deformable sensor  112 ′ is similar to the upper portion  311  of the deformable sensor  112  shown in  FIGS.  3  and  4   . However, the bubble module  411  is removable from the housing  410  and, thus, replaceable when necessary. The bubble module  411  defines an enclosure  413  that is filled with a medium through one or more fluid conduits  412 , which may be a valve or any other suitable mechanism, extending through the housing  410  and terminating at the bubble module  411 . As shown, the fluid conduit  412  includes a tube  412 A and a tube fitting  412 B. The fluid conduit  412  may be utilized to fill or empty the enclosure  413 . As the enclosure  413  is filled with the medium, the deformable membrane  420  forms a dome shape, as shown in  FIGS.  5  and  6   . 
     An internal sensor  430 , similar to the internal sensor  330 , capable of sensing depth may be disposed within the housing  410 , which may be measured by the depth resolution of the internal sensor  430 . The internal sensor  430  may have a field of view  432 , having an angle A 1 , directed through the medium and toward a bottom surface of the deformable membrane  420 . As a non-limiting example, the angle A 1  of the field of view  432  of the internal sensor  430  is 62°×45°+/−10%. In some embodiments, the internal sensor  430  may be an optical sensor. As described in more detail below, the internal sensor  430  may be capable of detecting deflections of the deformable membrane  420  when the deformable membrane  420  comes into contact with an object. In one example, the internal sensor  430  is a time-of-flight sensor capable of measuring depth. The time-of-flight sensor emits an optical signal (e.g., an infrared signal) and has individual detectors (i.e., “pixels”) that detect how long it takes for the reflected signal to return to the sensor. 
     As shown in  FIG.  5   , the internal sensor  430  is provided within the housing  410  and oriented at an angle A 2  with respect to the bubble module  411  and the deformable membrane  420 . Specifically, the internal sensor  430  extends along an axis with the angle A 2  extending between the axis of the internal sensor  430  and a backing plate  422  of the bubble module  411 , discussed in more detail herein. As a non-limiting example, the angle A 2  between the internal sensor  430  and the bubble module  411  may be 35°+/−10%. The internal sensor  430  being angled maximizes the field of view  432  and depth measurement accuracy at a center and distal edge of the deformable membrane  420  opposite the internal sensor  430 , while minimizing an overall width dimension of the deformable sensor  112 ′. 
     Referring now to  FIGS.  6  and  7   , the bubble module  411  of the deformable sensor  112 ′ is shown apart from the housing  410 . As shown in  FIG.  6   , the bubble module  411  is shown in its assembled form, while  FIG.  7    illustrates an exploded view of the bubble module  411 . The bubble module  411  includes the deformable membrane  420 , the backing plate  422 , and a ring  424  for securing the deformable membrane  420  onto the backing plate  422 . The bubble module  411  may be removably coupled to the housing  410  using any suitable means, such as threaded inserts  425  extending through holes  427  in the backing plate  422  for securing the backing plate  422  to the housing  410 . Alternatively, or in addition thereto, the threaded inserts  425  may be used to further secure an outer edge  421  of the deformable membrane  420  to the backing plate  422 . 
     More particularly, the backing plate  422  includes a housing surface  422 A, a membrane surface  422 B, and an edge surface  422 C extending between the housing surface  422 A and the membrane surface  422 B. The backing plate  422  is formed from a transparent material, such as an acrylic, so that the field of view  432  of the internal sensor  430  is not obstructed by the bubble module  411 . In assembling the bubble module  411 , an adhesive may be applied onto the edge surface  422 C of the backing plate  422 . Thereafter, the outer edge  421  of the deformable membrane  420  may be positioned around the backing plate  422  to contact the edge surface  422 C thereof and be adhered thereto. Further, the ring  424  may be positioned around the edge surface  422 C of the backing plate  422  in order to sandwich the deformable membrane  420  between the backing plate  422  and the ring  424 . As noted above, the threaded inserts  425  may be used to further secure the deformable membrane  420  to the backing plate  422  by positioning the outer edge  421  of the deformable membrane  420  along the housing surface  422 A of the backing plate  422  and inserting the threaded inserts  425  through the outer edge  421  of the deformable membrane  420  and the backing plate  422 . As shown, the tube fitting  412 B is shown attached to the backing plate  422  at an orifice  423  and the tube  412 A extends from the tube fitting  412 B to deliver a medium into the bubble module  411 . 
     Thus, if the deformable sensor  112 ′ is damaged, for example if the deformable membrane  420  punctured, such that medium leaks out of the bubble module  411 , the deformable sensor  112 ′ may be repaired without interfering with the housing  410  and electrical components provided therein, such as the internal sensor  430 . In doing so, the bubble module  411  is removed from the housing  410  via the threaded inserts  425 , or any other suitable means provided, and a replacement bubble module  411  may be coupled to the housing  410 . Alternatively, it may be desirable to repair the existing bubble module  411  by replacing only the deformable membrane  420  or repairing the deformable membrane  420  itself by providing a patch to seal the puncture or other damaged area. It should appreciated that providing the deformable sensor  112 ′ having the bubble module  411  that may be easily replaced allows for a greater portion of the deformable sensor  112 ′ to be housed within the robot  100  while only the bubble module  411  is exposed and accessible from an exterior of the robot  100 . This reduces the size of such the robot  100  and reduces the likelihood of damage to the deformable sensor  112 ′ during operation. 
     Referring now to  FIG.  8   , in some embodiments, the deformable sensors  112 ,  112 ′ may include an optional filter layer  323 . In a non-limiting example, the filter layer  323  is illustrated as being provided on the deformable sensor  112 . The filter layer  323  may be disposed on a bottom surface  321  of the deformable membrane  320 . As described in more detail herein, the bottom surface  321  of the deformable membrane  320  may be patterned (e.g., a dot pattern, a grid pattern, or any other suitable type pattern). By way of non-limiting example, a stereo-camera may be utilized to detect displacement of the deformable membrane  320  based on identified deformations of the patterned bottom surface  321 . The filter layer  323  may be configured to aid the internal sensor  330  in detecting deformation of the deformable membrane  320 . In some embodiments, the filter layer  323  reduces glare or improper reflections of one or more optical signals emitted by the internal sensor  330 . In some embodiments, the filter layer  323  may scatter one or more optical signals emitted by the internal sensor  330 . The filter layer  323  may be an additional layer secured to the bottom surface  321  of the deformable membrane  320 , or it may be a coating and/or pattern applied to the bottom surface  321  of the deformable membrane  320 . 
     Referring to  FIG.  9   , in some embodiments, the deformable sensors  112 ,  112 ′ may include an internal sensor filter  335 . In a non-limiting example, the internal sensor filter  335  is illustrated as being provided on the internal sensor  330  of the deformable sensor  112 . The internal sensor filter  335  may be disposed within the field of view  332  of the internal sensor  330 . The internal sensor filter  335  may optimize the optical signal emitted by the internal sensor  330  for reflection upon the bottom surface  321  of the deformable membrane  320 . Like the filter layer  323 , the internal sensor filter  335  may be disposed within a field of view  332  of the internal sensor  330  and may reduce glare or improper reflections of any optical signals emitted by the internal sensor  330 . In some embodiments, the internal sensor filter  335  may scatter one or more optical signals emitted by the internal sensor  330 . In some embodiments, both the filter layer  323  and the internal sensor filter  335  may be utilized. 
     A pattern may be provided on either the bottom surface of the deformable membrane  320  of the deformable sensor  112  or the bottom surface of the deformable membrane  420  of the deformable sensor  112 ′. Referring again to  FIG.  10   , in a non-limiting example, a dot pattern  325  including a plurality of arranged dots may be applied to the bottom surface  321  of the deformable membrane  320  on the optional filter layer  323  or the deformable membrane  320  itself to assist in the detection of the deformation of the deformable membrane  320 . For example, the dot pattern  325  may assist in the detection of the deformation when the internal sensor  330  is a stereo-camera. Alternatively, a stereo-camera may be provided in addition to the internal sensor  330  to supplement the deformation detection of the internal sensor  330 . Varying degrees of distortion to the dot pattern  325  may be utilized to discern how much deformation has occurred to the deformable membrane  320 . The pattern on the bottom surface  321  may be random and not necessarily arranged in a dot pattern  325  or an array as shown in  FIG.  10   . 
     In some embodiments in which the dot pattern  325  is provided, an initial or pre-deformation image of the dot pattern  325  on the bottom surface  321  of the deformable membrane  320  may be captured prior to any deformation of the deformable membrane  320 . Thereafter, the internal sensor  330 , or separate stereo-camera, if provided, captures at least one post-deformation image of the dot pattern  325  during or after deformation of the deformable membrane  320 . The pre-deformation image may be compared to the post-deformation image and the location of each dot in the pre-deformation image is compared to corresponding dots in the post-deformation image to determine an amount of displacement of the dots and, thus, the displacement of the deformation membrane  320 . The displacement of each dot may be used to determine the amount of deformation at individual quadrants or sections of the dot pattern  325 . The amount of displacement of each dot is then converted into a distance measurement to determine the specific deformation of the deformable membrane  320 , or sections thereof, to discern a geometry and/or pose of the object deforming the deformable membrane  320 . 
     In some embodiments, measurements between each dot, or at least some of the dots, of the dot pattern  325  may be stored within a memory module, such as memory module  232  ( FIG.  2   ) of the deformable sensor  112  or an associated processor, such as processor  230  ( FIG.  2   ). Thus, instead of merely determining a geometry and/or pose of the target object, the dimensions of various sections of the target object may be determined by calculating specific deformations between adjacent dots of the dot pattern  325 . When the dot pattern  325  includes a greater number of dots, the dot pattern  325  may permit detection of deformation within smaller areas of the deformable membrane  320  as compared to when the dot pattern  325  includes a fewer number of dots. In embodiments in which the dots of the dot pattern  325  is arranged in an array, the dots may be equidistantly spaced apart from one another or arranged in any other suitable manner. However, in some embodiments, the distances between the dots when not equidistantly spaced from one another are stored within the memory module to identify the arrangement of the dots. In addition, it should be appreciated that the same technique discussed above of comparing the pre-deformation image to the post-deformation image may be repeated for a plurality of post-deformation images taken during deformation of the deformable membrane  320  to provide real-time data as to the geometry, measurements, and/or pose of the target object. By comparing post-deformation images to one another, displacement of the deformable membrane  320  occurring within smaller increments of time can be determined, as opposed to a total deformation of the deformable membrane  320  from an initial, pre-deformed state. 
     Referring to  FIG.  11   , in some embodiments, the pattern may be a grid pattern  322  applied to a bottom surface  321  of the deformable membrane  320  to assist in the detection of the deformation of the deformable membrane  320 . For example, the grid pattern  322  may assist in the detection of the deformation when the internal sensor  330  is a stereo-camera. For example, varying degrees of distortion to the grid pattern  322  may be utilized to discern how much deformation has occurred. In this example, the distance between parallel lines and/or measuring curvature of lines in the grid pattern  322  may be used to determine the amount of deformation at each point in the grid pattern  322 . The pattern on the bottom surface  321  may be random and not necessarily arranged in a grid pattern  322  or an array as shown in  FIG.  11   . It should be understood that embodiments are not limited to grid patterns and dot patters as discussed herein, as other types of patterns are possible, such as shapes and the like. 
     Referring now to  FIG.  12   , an embodiment depicts a compound internal sensor  330 ′, which may be utilized instead of the internal sensor  330  of the deformable sensor  112  or the internal sensor  430  of the deformable sensor  112 ′. A plurality of internal sensors  502  are depicted, which in this embodiment are time-of-flight cameras. Other embodiments may utilize any combination of various types of internal sensors. In this embodiment, cables  504  are utilized to provide data communications and/or power to the internal sensors, although other embodiments may use a different number of cables and/or wireless connections for data and/or power. A support structure  506  is depicted in this embodiment, although other embodiments may utilize a plurality of support structures  506  or no support structure. In this embodiment, the support structure  506  is rigid, although one or more support structures  506  may be flexible to change the orientation of internal sensors  502  in some embodiments. In this embodiment, the cables  504  may be connected to a base portion  508  for data communications and/or power. 
       FIG.  13    depicts an image of an example object  615  displacing the deformable membrane  320  of the deformable sensor  112 . It should be appreciated, that the deformable sensor  112 ′ may also be used in the same manner as discussed herein. In the illustrated embodiment, a display device  640  outputs for display on a device, output of the deformable sensor  112  in real time as an object  615  contacts and/or deforms the deformable membrane  320 . It should be understood that the display device  640  is provided for illustrative purposes only, and that embodiments may be utilized without a display device. As the object  615  is pressed into the deformable membrane  320 , the object  615  imparts its shape into the deformable membrane  320  such that the deformable membrane  320  conforms to the shape of the object  615 . The spatial resolution of the internal sensor  330  may be such that the internal sensor  330  detects the geometry and/or pose of the displaced deformable membrane  320 . For example, when the internal sensor  330  is a time-of-flight sensor, the optical signal that is reflected off of the bottom surface  321  of the deformable membrane  320  that is being deflected by the object has a shorter time-of-flight than the optical signal that is reflected by the deformable membrane  320  at a region outside of the deflected region. Thus, a contact region  642  (or displaced region, used herein interchangeably) having a geometry and/or pose matching the shape of the object  615  may be outputted and displayed on the display device  640 . 
     The deformable sensor  112  therefore may not only detect the presence of contact with the object  615 , but also the geometry of the object  615 . In this manner, the robot equipped with either the deformable sensor  112  or the deformable sensor  112 ′ may determine the geometry of an object based on contact with the object. Additionally, a geometry and/or pose of the object  615  may also be determined based on the geometric information sensed by the deformable sensors  112 ,  112 ′. For example, a vector  644  that is normal to a surface in the contact region  642  may be displayed, such as when determining the pose of the object  615 . The vector  644  may be used by a robot or other device to determine which direction a particular object  615  may be oriented, for example. 
     Turning now to  FIG.  14   , a flowchart illustrates an exemplary method  700  for determining the pose and force associated with an object in contact with the deformable sensors  112 ,  112 ′. However, as discussed herein, reference is made to  FIGS.  3  and  4    illustrating the deformable sensor  112  without limiting the scope of the present disclosure. At block  702 , a medium (gas, liquid, silicone, etc.) may be received within the enclosure  313  where the deformable membrane  320  is coupled to an upper portion  311  of the housing  310 . At block  704 , deformation of the deformable membrane  320  may be measured based on contact with an object  615  via an internal sensor  330  in the enclosure  313  having a field of view  332  directed through the medium and toward a bottom surface  321  of the deformable membrane  320 . At block  706 , a pose of the object  615  may be determined based on the measure deformation, such as the contact region  642 , of the deformable membrane  320 . As discussed above with reference to  FIG.  13   , a pose of the object  615  may be determined by the object  615  being pressed into the deformable membrane  320  and the deformable membrane  320  conforms to the shape of the object  615 . Thereafter, the internal sensor  330  detects the geometry and/or pose of the displaced deformable membrane  320 . At block  708 , an amount of force between the deformable membrane  320  and the object  615  is determined based on the measured deformation of the deformable membrane  320 . Blocks  706  and  708  may be performed simultaneously, but do not necessarily need to be. At block  710 , a determination is made as to whether further deformation and/or contact is detected. If so, then the flowchart may return to block  704 . If not, the flowchart may end. 
     Referring now to  FIG.  16   , a flowchart illustrates an exemplary method  900  of determining a location of the robot  100  within a space is depicted with reference to the robot  100  illustrated in  FIGS.  1  and  2    and an example space  800  illustrated in  FIG.  15    in which the robot  100  performs an operation. As discussed herein, reference will be made to the robot  100  utilizing the deformable sensor  112 . However, the method  900  is equally applicable to the robot  100  including the deformable sensor  112 ′ Initially, at block  902 , a database is created. The database includes information of at least one space and information of objects located within the space so that the robot  100  can determine its location within the space. The database may include information of a plurality of different spaces, such as different rooms in a home or facility. Thus, the spaces stored within the database may include specific identifiers to differentiate between the spaces, such as “Bedroom”, “Kitchen”, “Living Room”, etc. For each space, a floorplan may be initially provided prior to an operation of the robot  100  or the floorplan may be mapped in real-time by the robot  100  so that the robot  100  can determine its location within the space. In some embodiments, the floorplan stored in the database includes dimensions of the space, a location of objects on the floor surface of the space that the robot  100  might come into contact with during its operation, dimensions of the objects, and/or clearance distances between objects in the space. Further, the database may include specific information such as the material of construction of an object to associate certain characteristics, such as texture, hardness, flexibility, and/or the like, with the object. For example, if an object, such as a kitchen table, is identified as being made of wood, the database will assign the object a characteristic that the object has a specific hardness associated with wood, or whichever material the object is formed of. Alternatively, if an object, such as a couch, is identified as being made of a fabric or leather, the database will assign the object a characteristic that the object has a hardness associated with a fabric or leather, which may be less than the hardness of the object formed of wood. Other characteristics assigned to the objects can include the object having rounded edges, corners, protrusions, surface features, etc. The database does not need to include each of the information and/or characteristics discussed herein. However, it should be appreciated that the more information and characteristics that are provided in the database with regard to the space and the objects provided therein, the quicker and more efficiently the robot  100  will be able to determine its location within the space. 
     The information of the space and/or the objects discussed herein may be entered into the database manually, such as by operating the input device  238  or the portable electronic device  280 . As such, the information of the space and/or the objects may be modified and/or deleted as necessary when the space and/or the objects are changed, such as when furniture is moved or replaced. The database may be stored in the network  270  or may be stored within the memory module  232  of the robot  100  itself. However, if the database is stored in the network  270 , the robot  100  uses a connection to the network  270  during operation to retrieve and utilize the information stored in the database. Alternatively, the robot  100  may be instructed to download the database or one or more portions of the database from the network  270  onto the memory module  232  of the robot  100  prior to performing an operation. After the robot  100  completes the operation, the database may be deleted to make additional storage space available for subsequent downloads of the database or portions thereof. 
     The deformable sensors  112  may also be utilized to map a space when contacting an object or a wall of the space during an exploratory operation. This allows the robot  100  to automatically map the space during an exploratory operation of the robot  100  and reduces, or in some instances eliminates, the need for manual input by the user of the information of the space and the objects provided therein. However, when mapping the space during an operation in real time, the robot  100  may not be able to determine its location until a sufficient amount of the space has been mapped. In some embodiments, the robot  100  may include supplemental sensing devices in addition to the deformable sensors  112  such as optical sensors, acoustic sensors, time-of-flight cameras, laser scanners, ultrasonic sensors, or the like, for automatically mapping the space and determining information of the objects provided therein. 
     Referring still to the method  900  illustrated in  FIG.  16   , with reference to the robot  100  illustrated in  FIGS.  1  and  2    positioned within the example space  800  illustrated in  FIG.  15    and, such as a family room or a living room in a home, and the robot  100  is activated at block  904  to perform an operation. In the case of the robot  100  being an autonomous vacuum, the operation may be a cleaning operation. In the case in which the robot  100  is an object retrieval robot or an object delivery robot, the operation may be navigating to a destination to retrieve or deliver an object. The example space  800  includes a plurality of objects such as, for example, an entertainment system  802 , a couch  804 , a table  806 , a plurality of chairs  808  arranged around the table  806 , and a cabinet  810 . As noted above, in some embodiments, information of the space  800  and the objects provided in the space  800  are manually inputted into the database prior to the robot  100  beginning its operation. As such, the database may include information such as the locations and/or dimensions of the space  800 , the entertainment system  802 , the couch  804 , the table  806 , the plurality of chairs  808 , and the cabinet  810 . As also noted above, the database may also include the materials of construction of each of the objects and/or distances between each of the objects. 
     In an example operation as shown in  FIG.  15   , the robot  100  moves throughout the space  800  and, at block  906 , one of the plurality of deformable sensors  112  extending from the robot  100  contacts a first object, e.g., the cabinet  810 , which may be formed of wood. In contacting the cabinet  810 , the portion of the deformable sensor  112  contacting the cabinet  810  deforms. For purposes of the present example operation, the first object is referred to as the cabinet  810 . However, the first object may be any other object within the space  800  based on an initial starting point and travel direction of the robot  100 . As discussed in more detail below with regard to the deformable sensor  112 , the deformable sensor  112  provides data at block  908  including at least a geometry, pose, hardness, and/or flexibility of the cabinet  810 . Thus, based on the specific deformation of the deformable sensor  112  in the illustrated example shown in  FIG.  15   , the robot  100  identifies that the cabinet  810  has a specific hardness. In addition, the robot  100  may also recognize that the deformable sensor  112  is contacting an edge or corner of the cabinet  810  based on the specific deformation of the deformable sensor  112 . 
     In some embodiments, the robot  100 , such as the edge surface  108  of the robot  100 , may contact an object at a point between adjacent deformable sensors  112  such that none of the deformable sensors  112  deform against an object. In this case, the robot  100  may turn or rotate to reposition itself so that one of the deformable sensors  112  contact the object and deforms. In some embodiments, the robot  100  includes additional, smaller deformable sensors provided along the edge surface  108  of the robot  100  between adjacent deformable sensors  112  to determine where the robot  100  contacted the object and how to reposition the robot  100  so that one of the deformable sensors  112  contacts the object. 
     In embodiments in which the database has been populated with information of the space  800  and the objects provided therein prior to the operation, the robot  100  compares, at block  910 , the acquired information or data of the first object, e.g., the cabinet  810 , which is determined by the deformable sensor  112 , to the information associated with each of the objects in the space  800  stored in the database. In doing so, the robot  100  is able to identify at block  912 , or at least narrow the possible options, the first object in the space  800  which the robot  100  contacted. For example, the robot  100  can rule out the object contacted as being the couch  804  made from a fabric or leather as the associated hardness of the couch  804  identified in the database is less than the associated hardness of the cabinet  810  formed of wood. This allows the robot  100  to determine at block  914 , or at least narrow, the location of the robot  100  within the space  800  based on which possible objects in the space  800  the robot  100  may have contacted. 
     When the database includes a plurality of spaces, the robot  100  may compare the first object contacted to each object within each one of the spaces in the database. However, in some embodiments, the robot  100  may compare the first object to only those objects in a specific space or subset of spaces based on instruction from a user indicating which space the robot  100  begins its operation. Alternatively, the location sensor  250  of the robot  100  may be utilized to determine a general location of the robot  100 . This may assist in narrowing the number of possible spaces in which the robot  100  is operating. 
     To identify the first object as a first identified object of one of the plurality of objects in the database and, thus, the location of the robot  100 , the robot  100  may also take into consideration a clearance distance around the object and a direction traveled by the robot  100  prior to contacting the first object. As shown in  FIG.  15   , the robot  100  moves in a straight line along a distance  801  from a starting point  803  prior to contacting the cabinet  810 . Based on this information and the information associated with the space  800  provided in the database, the robot  100  may be able to rule out possible objects, such as the table  806  and the chairs  808 , which do not provide enough clearance to travel the distance  801 . 
     Once the robot  100  identifies that the first object contacted is the cabinet  810 , the robot  100  can determine its location within the space  800  at block  914  based on the known location of the cabinet  810  in the space  800  stored in the database. However, if the robot  100  is not capable of correctly identifying the first object based on the limited amount of information acquired by the deformable sensor  112 , the robot  100  continues its operation until a subsequent object is contacted to confirm the identity of the first object and the location of the robot  100  from a number of possible locations within the space  800 . For example, after contacting the first object, e.g., the cabinet  810 , the robot  100  will turn away from the first object and travel in a different direction to continue the operation. The robot  100  will then eventually contact a subsequent object at block  916 , such as the couch  804 , and receives a subsequent signal based on contact with the subsequent object. At block  918 , while contacting the subsequent object, e.g., the couch  804 , the deformable sensor  112  identifies the shape and hardness of the second object in a manner similar to that which is described herein with respect to the first object at blocks  908 - 912 . At block  920 , this information is compared to the information provided in the database and at block  922 , the subsequent object is identified as a subsequent identified object of one of the plurality of objects in the database, or at least the possibilities of the identity of the first object and the subsequent object is narrowed. As noted herein, the robot  100  may also take into consideration a distance traveled from a point at which the robot  100  contacted the first object to a point at which the robot  100  contacted the subsequent object to assist in correctly identifying the first object and the subsequent object. 
     At block  924 , once the identification of the first object is confirmed, and in some instances the subsequent object if necessary, the robot  100  is able to determine its location within the space  800 . As such, the robot  100  may continue its operation and avoid further contact with any other objects within the space  800  based on location information of other objects in the space  800  provided in the database. This is useful in instances in which the robot  100  needs to travel to a specific location in the space  800 , such as to perform a cleaning operation or an object retrieval/delivery operation. The location of the robot  100  may also be stored within the memory module  232  so that the robot  100  may continue to track its location within the space  800  during future operations. Thus, contact with additional or subsequent objects may not be necessary. Alternatively, the robot  100  may repeat blocks  916 - 924  with regard to a further subsequent object if the location of the robot  100  is not accurately determined. 
     It should now be understood that embodiments of the present disclosure are directed deformable sensors capable of detecting contact with an object as well as a geometric shape and pose of an object. One or more deformable sensors may be provided on a robot, for example. The information provided by the deformable sensors may then be used to control the robot&#39;s interaction with target objects. The depth resolution and spatial resolution of the deformation sensors may vary depending on the location of the deformable sensors on the robot. 
     It is noted that recitations herein of a component of the present disclosure being “configured” or “programmed” in a particular way, to embody a particular property, or to function in a particular manner, are structural recitations, as opposed to recitations of intended use. More specifically, the references herein to the manner in which a component is “configured” or “programmed” denotes an existing physical condition of the component and, as such, is to be taken as a definite recitation of the structural characteristics of the component. 
     The order of execution or performance of the operations in examples of the disclosure illustrated and described herein is not essential, unless otherwise specified. That is, the operations may be performed in any order, unless otherwise specified, and examples of the disclosure may include additional or fewer operations than those disclosed herein. For example, it is contemplated that executing or performing a particular operation before, contemporaneously with, or after another operation is within the scope of aspects of the disclosure. 
     It is noted that the terms “substantially” and “about” and “approximately” may be utilized herein to represent the inherent degree of uncertainty that may be attributed to any quantitative comparison, value, measurement, or other representation. These terms are also utilized herein to represent the degree by which a quantitative representation may vary from a stated reference without resulting in a change in the basic function of the subject matter at issue. 
     While particular embodiments have been illustrated and described herein, it should be understood that various other changes and modifications may be made without departing from the spirit and scope of the claimed subject matter. Moreover, although various aspects of the claimed subject matter have been described herein, such aspects need not be utilized in combination. It is therefore intended that the appended claims cover all such changes and modifications that are within the scope of the claimed subject matter.