WO2006113755A3 - Controlling a robot using pose - Google Patents

Controlling a robot using pose Download PDF

Info

Publication number
WO2006113755A3
WO2006113755A3 PCT/US2006/014634 US2006014634W WO2006113755A3 WO 2006113755 A3 WO2006113755 A3 WO 2006113755A3 US 2006014634 W US2006014634 W US 2006014634W WO 2006113755 A3 WO2006113755 A3 WO 2006113755A3
Authority
WO
WIPO (PCT)
Prior art keywords
pose
robot
controlling
points
detection
Prior art date
Application number
PCT/US2006/014634
Other languages
French (fr)
Other versions
WO2006113755A2 (en
Inventor
Hector Gonzalez-Banos
Victor Ng-Thow-Hing
Original Assignee
Honda Motor Co Ltd
Hector Gonzalez-Banos
Victor Ng-Thow-Hing
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd, Hector Gonzalez-Banos, Victor Ng-Thow-Hing filed Critical Honda Motor Co Ltd
Priority to JP2008507820A priority Critical patent/JP4647687B2/en
Publication of WO2006113755A2 publication Critical patent/WO2006113755A2/en
Publication of WO2006113755A3 publication Critical patent/WO2006113755A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39001—Robot, manipulator control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40564—Recognize shape, contour of object, extract position and orientation

Abstract

Systems and methods are presented that enable robot commands to be determined based on the pose of an object. A method is described for determining the orientation and pose of an object using indistinguishable points. The resolution of the pose detection is based on the robot's command vocabulary. A system is described for controlling a robot by pose detection using unlabelled points.
PCT/US2006/014634 2005-04-18 2006-04-18 Controlling a robot using pose WO2006113755A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2008507820A JP4647687B2 (en) 2005-04-18 2006-04-18 Robot command determination method and robot command determination system

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US67291605P 2005-04-18 2005-04-18
US60/672,916 2005-04-18
US11/406,483 US7664571B2 (en) 2005-04-18 2006-04-17 Controlling a robot using pose
US11/406,483 2006-04-17

Publications (2)

Publication Number Publication Date
WO2006113755A2 WO2006113755A2 (en) 2006-10-26
WO2006113755A3 true WO2006113755A3 (en) 2007-11-22

Family

ID=37115885

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2006/014634 WO2006113755A2 (en) 2005-04-18 2006-04-18 Controlling a robot using pose

Country Status (3)

Country Link
US (1) US7664571B2 (en)
JP (1) JP4647687B2 (en)
WO (1) WO2006113755A2 (en)

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US8147503B2 (en) * 2007-09-30 2012-04-03 Intuitive Surgical Operations Inc. Methods of locating and tracking robotic instruments in robotic surgical systems
US8108072B2 (en) * 2007-09-30 2012-01-31 Intuitive Surgical Operations, Inc. Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information
US8073528B2 (en) 2007-09-30 2011-12-06 Intuitive Surgical Operations, Inc. Tool tracking systems, methods and computer products for image guided surgery
US10555775B2 (en) 2005-05-16 2020-02-11 Intuitive Surgical Operations, Inc. Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery
KR101494344B1 (en) * 2008-04-25 2015-02-17 삼성전자주식회사 method and system for motion control in humanoid robot
TWI373361B (en) * 2008-10-09 2012-10-01 Univ Nat Chiao Tung Glove puppet manipulation system
US20100306685A1 (en) * 2009-05-29 2010-12-02 Microsoft Corporation User movement feedback via on-screen avatars
TWI471755B (en) * 2010-01-13 2015-02-01 Chao Lieh Chen Device for operation and control of motion modes of electrical equipment
US10166680B2 (en) 2015-07-31 2019-01-01 Heinz Hemken Autonomous robot using data captured from a living subject
US9676098B2 (en) 2015-07-31 2017-06-13 Heinz Hemken Data collection from living subjects and controlling an autonomous robot using the data
US11281208B2 (en) * 2018-03-02 2022-03-22 Carnegie Mellon University Efficient teleoperation of mobile robots via online adaptation
US11919170B2 (en) * 2019-12-13 2024-03-05 Edda Technology, Inc. Fast method for robot path planning with obstacle avoidance

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Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040161132A1 (en) * 1998-08-10 2004-08-19 Cohen Charles J. Gesture-controlled interfaces for self-service machines and other applications
US20040002642A1 (en) * 2002-07-01 2004-01-01 Doron Dekel Video pose tracking system and method

Also Published As

Publication number Publication date
US7664571B2 (en) 2010-02-16
JP4647687B2 (en) 2011-03-09
US20060271239A1 (en) 2006-11-30
WO2006113755A2 (en) 2006-10-26
JP2008538327A (en) 2008-10-23

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