Alcazar & Barajas, US Patent 8,515,579 Granted

Sep 1st, 2013 | By Leandro | Category: Featured Articles, NASA, Patents, Publications, Robonaut 2

United States Patent	8,515,579
Alcazar, et al.	August 20, 2013

Systems and Methods Associated with Handling an Object with a Gripper

Download: 08515579.pdf

[text]

AbstractA system associated with handling an object with a gripper includes a sensor that is configured to measure spatially distributed data that represents the position of the object that is handled by the gripper. The system further includes a computing unit that is configured to determine the behavior of the object.

Inventors:

Alcazar; Javier A (Royal Oak, MI), Barajas; Leandro G. (Troy, MI)

Applicant:

Name	City	State	Country	Type
Alcazar; Javier A Barajas; Leandro G.	Royal Oak Troy	MI MI	US US

Assignee:

GM Global Technology Operations LLC (Detroit, MI)

Family ID:

44082799

Appl. No.:

12/634,313

Filed:

December 9, 2009

A method associated with handling an object using a gripper, comprising: determining, by a computing unit using a processor, a vector field as a function of change in spatially-distributed data over time, the spatially-distributed data being measured at different positions on the object or on a gripping surface of the gripper by a sensor; and determining, by the computing unit, a behavior of the object as a function of the vector field, the behavior of the object comprising at least one vector selected from a group consisting of: a translational vector, wherein the translational vector is a resultant vector of the vector field; and a rotational vector, wherein the rotational vector is a curl of the vector field.