Patents by Inventor Craig M. Corcoran

Craig M. Corcoran has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Contact state estimation for multi-finger robot hands using particle filters
    Patent number: 8280837
    Abstract: A method for identifying the location, orientation and shape of an object that a robot hand touches that includes using a particle filter. The method includes defining an appropriate motion model and a measurement model. The motion model characterizes the motion of the robot hand as it moves relative to the object. The measurement model estimates the likelihood of an observation of contact position, velocity and tactile sensor information given hand-object states. The measurement model is approximated analytically based on a geometric model or based on a corpus of training data. In either case, the measurement model distribution is encoded as a Gaussian or using radial basis functions.
    Type: Grant
    Filed: May 28, 2009
    Date of Patent: October 2, 2012
    Assignees: GM Global Technology Operations LLC, The United State of America as represented by the Administrator of the National Aeronautics and Space Administration
    Inventors: Robert Platt, Frank Noble Permenter, Craig M. Corcoran, Charles W. Wampler, II
  • CONTACT STATE ESTIMATION FOR MULTI-FINGER ROBOT HANDS USING PARTICLE FILTERS
    Publication number: 20100306159
    Abstract: A method for identifying the location, orientation and shape of an object that a robot hand touches that includes using a particle filter. The method includes defining an appropriate motion model and a measurement model. The motion model characterizes the motion of the robot hand as it moves relative to the object. The measurement model estimates the likelihood of an observation of contact position, velocity and tactile sensor information given hand-object states. The measurement model is approximated analytically based on a geometric model or based on a corpus of training data. In either case, the measurement model distribution is encoded as a Gaussian or using radial basis functions.
    Type: Application
    Filed: May 28, 2009
    Publication date: December 2, 2010
    Applicants: GM GLOBAL TECHNOLOGY OPERATIONS, INC., THE UNITED STATES OF AMERICA AS REPRESENTED BY THE ADMINISTRATOR OF THE NATIONAL AERONAUTICS AND
    Inventors: Robert Platt, Frank Noble Permenter, Craig M. Corcoran, Charles W. Wampler, II