Patents by Inventor Russell L. Tedrake
Russell L. Tedrake 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).
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Patent number: 11951633Abstract: Systems and methods for determining a location of a robot are provided. A method 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.Type: GrantFiled: January 10, 2023Date of Patent: April 9, 2024Assignees: Toyota Research Institute, Inc., Toyota Jidosha Kabushiki KaishaInventors: Alexander Alspach, Naveen Suresh Kuppuswamy, Avinash Uttamchandani, Samson F. Creasey, Russell L Tedrake, Kunimatsu Hashimoto, Erik C. Sobel, Takuya Ikeda
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Patent number: 11806864Abstract: A robot arm assembly for detecting a pose and force associated with an object is provided. The robot arm assembly includes an end effector having a plurality of fingers, and a deformable sensor provided on each finger. The deformable sensor includes a housing, a deformable membrane coupled to the housing, an enclosure filled with a medium, and an internal sensor disposed within the housing having a field of view directed through the medium and toward an internal surface of the deformable membrane. A processor is configured to receive an output from each internal sensor, the output including a contact region of the deformable membrane as a result of contact with the object. The processor determines an amount of displacement of the contact region based on the output from each internal sensor, and determines the pose and the force associated with the object based on the amount of displacement.Type: GrantFiled: January 18, 2023Date of Patent: November 7, 2023Assignees: TOYOTA RESEARCH INSTITUTE, INC., TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Alexander Alspach, Naveen Suresh Kuppuswamy, Avinash Uttamchandani, Samson F. Creasey, Russell L. Tedrake, Kunimatsu Hashimoto, Erik C. Sobel, Takuya Ikeda
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Publication number: 20230158674Abstract: Systems and methods for determining a location of a robot are provided. A method 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.Type: ApplicationFiled: January 10, 2023Publication date: May 25, 2023Applicants: Toyota Research Institute, Inc., TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Alexander Alspach, Naveen Suresh Kuppuswamy, Avinash Uttamchandani, Samson F. Creasey, Russell L. Tedrake, Kunimatsu Hashimoto, Erik C. Sobel, Takuya Ikeda
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Publication number: 20230150148Abstract: A robot arm assembly for detecting a pose and force associated with an object is provided. The robot arm assembly includes an end effector having a plurality of fingers, and a deformable sensor provided on each finger. The deformable sensor includes a housing, a deformable membrane coupled to the housing, an enclosure filled with a medium, and an internal sensor disposed within the housing having a field of view directed through the medium and toward an internal surface of the deformable membrane. A processor is configured to receive an output from each internal sensor, the output including a contact region of the deformable membrane as a result of contact with the object. The processor determines an amount of displacement of the contact region based on the output from each internal sensor, and determines the pose and the force associated with the object based on the amount of displacement.Type: ApplicationFiled: January 18, 2023Publication date: May 18, 2023Applicants: Toyota Research Institute, Inc., TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Alexander Alspach, Naveen Suresh Kuppuswamy, Avinash Uttamchandani, Samson F. Creasey, Russell L. Tedrake, Kunimatsu Hashimoto, Erik C. Sobel, Takuya Ikeda
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Patent number: 11628576Abstract: Systems and methods for detecting pose and force against an object are provided. A method includes receiving a signal from a deformable sensor comprising data from a deformation region in a deformable membrane resulting from contact with the object utilizing an internal sensor disposed within an enclosure and having a field of view directed through a medium and toward a bottom surface of the deformable membrane. The method also determines a pose of the object based on the deformation region of the deformable membrane. The method also determines an amount of force applied between the deformable membrane and the object is determined based on the deformation region of the deformable membrane.Type: GrantFiled: August 31, 2022Date of Patent: April 18, 2023Assignee: TOYOTA RESEARCH INSTITUTE, INC.Inventors: Alexander Alspach, Russell L. Tedrake, Kunimatsu Hashimoto, Erik C. Sobel
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Patent number: 11584026Abstract: A robot arm assembly for detecting a pose and force associated with an object is provided. The robot arm assembly includes an end effector having a plurality of fingers, and a deformable sensor provided on each finger. The deformable sensor includes a housing, a deformable membrane coupled to the housing, an enclosure filled with a medium, and an internal sensor disposed within the housing having a field of view directed through the medium and toward an internal surface of the deformable membrane. A processor is configured to receive an output from each internal sensor, the output including a contact region of the deformable membrane as a result of contact with the object. The processor determines an amount of displacement of the contact region based on the output from each internal sensor, and determines the pose and the force associated with the object based on the amount of displacement.Type: GrantFiled: June 23, 2020Date of Patent: February 21, 2023Assignees: Toyota Research Institute, Inc., Toyota Jidosha Kabushiki KaishaInventors: Alexander Alspach, Naveen Suresh Kuppuswamy, Avinash Uttamchandani, Samson F. Creasey, Russell L. Tedrake, Kunimatsu Hashimoto, Erik C. Sobel, Takuya Ikeda
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Patent number: 11577395Abstract: Systems and methods for determining a location of a robot are provided. A method 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.Type: GrantFiled: July 17, 2020Date of Patent: February 14, 2023Assignees: Toyota Research Institute, Inc., Toyota Jidosha Kabushiki KaishaInventors: Alexander Alspach, Naveen Suresh Kuppuswamy, Avinash Uttamchandani, Samson F. Creasey, Russell L. Tedrake, Kunimatsu Hashimoto, Erik C. Sobel, Takuya Ikeda
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Publication number: 20220410403Abstract: Systems and methods for detecting pose and force against an object are provided. A method includes receiving a signal from a deformable sensor comprising data from a deformation region in a deformable membrane resulting from contact with the object utilizing an internal sensor disposed within an enclosure and having a field of view directed through a medium and toward a bottom surface of the deformable membrane. The method also determines a pose of the object based on the deformation region of the deformable membrane. The method also determines an amount of force applied between the deformable membrane and the object is determined based on the deformation region of the deformable membrane.Type: ApplicationFiled: August 31, 2022Publication date: December 29, 2022Applicant: Toyota Research Institute, Inc.Inventors: Alexander Alspach, Russell L. Tedrake, Kunimatsu Hashimoto, Erik C. Sobel
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Patent number: 11465296Abstract: Systems and methods for detecting pose and force against an object are provided. A method includes receiving a signal from a deformable sensor comprising data from a deformation region in a deformable membrane resulting from contact with the object utilizing an internal sensor disposed within an enclosure and having a field of view directed through a medium and toward a bottom surface of the deformable membrane. The method also determines a pose of the object based on the deformation region of the deformable membrane. The method also determines an amount of force applied between the deformable membrane and the object is determined based on the deformation region of the deformable membrane.Type: GrantFiled: April 29, 2021Date of Patent: October 11, 2022Assignee: TOYOTA RESEARCH INSTITUTE, INC.Inventors: Alexander Alspach, Russell L. Tedrake, Kunimatsu Hashimoto, Erik C. Sobel
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Patent number: 11308314Abstract: In an embodiment, a pose estimation device obtains an image of an object, and generates a pose estimate of the object. The pose estimate includes a respective heatmap for each of a plurality of pose components of a pose of the object, and the respective heatmap for each of the pose components includes a respective uncertainty indication of an uncertainty of the pose component at each of one or more pixels of the image.Type: GrantFiled: March 18, 2020Date of Patent: April 19, 2022Assignee: Toyota Research Institute, Inc.Inventors: Kunimatsu Hashimoto, Duy-Nguyen Ta Huynh, Eric A. Cousineau, Russell L. Tedrake
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Publication number: 20210252721Abstract: A robot arm assembly for detecting a pose and force associated with an object is provided. The robot arm assembly includes an end effector having a plurality of fingers, and a deformable sensor provided on each finger. The deformable sensor includes a housing, a deformable membrane coupled to the housing, an enclosure filled with a medium, and an internal sensor disposed within the housing having a field of view directed through the medium and toward an internal surface of the deformable membrane. A processor is configured to receive an output from each internal sensor, the output including a contact region of the deformable membrane as a result of contact with the object. The processor determines an amount of displacement of the contact region based on the output from each internal sensor, and determines the pose and the force associated with the object based on the amount of displacement.Type: ApplicationFiled: June 23, 2020Publication date: August 19, 2021Applicants: Toyota Research Institute, Inc., TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Alexander Alspach, Naveen Suresh Kuppuswamy, Avinash Uttamchandani, Samson F. Creasey, Russell L. Tedrake, Kunimatsu Hashimoto, Erik C. Sobel, Takuya Ikeda
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Publication number: 20210252709Abstract: Systems and methods for determining a location of a robot are provided. A method 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.Type: ApplicationFiled: July 17, 2020Publication date: August 19, 2021Applicants: Toyota Research Institute, Inc., TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Alexander Alspach, Naveen Suresh Kuppuswamy, Avinash Uttamchandani, Samson F. Creasey, Russell L. Tedrake, Kunimatsu Hashimoto, Erik C. Sobel, Takuya Ikeda
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Publication number: 20210245369Abstract: Systems and methods for detecting pose and force against an object are provided. A method includes receiving a signal from a deformable sensor comprising data from a deformation region in a deformable membrane resulting from contact with the object utilizing an internal sensor disposed within an enclosure and having a field of view directed through a medium and toward a bottom surface of the deformable membrane. The method also determines a pose of the object based on the deformation region of the deformable membrane. The method also determines an amount of force applied between the deformable membrane and the object is determined based on the deformation region of the deformable membrane.Type: ApplicationFiled: April 29, 2021Publication date: August 12, 2021Applicant: Toyota Research Institute, Inc.Inventors: Alexander Alspach, Russell L. Tedrake, Kunimatsu Hashimoto, Erik C. Sobel
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Patent number: 11007652Abstract: Systems and methods for detecting pose and force against an object are provided. A method includes receiving a signal from a deformable sensor comprising data from a deformation region in a deformable membrane resulting from contact with the object utilizing an internal sensor disposed within an enclosure and having a field of view directed through a medium and toward a bottom surface of the deformable membrane. The method also determines a pose of the object based on the deformation region of the deformable membrane. The method also determines an amount of force applied between the deformable membrane and the object is determined based on the deformation region of the deformable membrane.Type: GrantFiled: May 1, 2020Date of Patent: May 18, 2021Assignee: Toyota Research Institute, Inc.Inventors: Alexander Alspach, Russell L. Tedrake, Kunimatsu Hashimoto, Erik C. Sobel
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Publication number: 20200302160Abstract: In an embodiment, a pose estimation device obtains an image of an object, and generates a pose estimate of the object. The pose estimate includes a respective heatmap for each of a plurality of pose components of a pose of the object, and the respective heatmap for each of the pose components includes a respective uncertainty indication of an uncertainty of the pose component at each of one or more pixels of the image.Type: ApplicationFiled: March 18, 2020Publication date: September 24, 2020Applicant: Toyota Research Institute, Inc.Inventors: Kunimatsu Hashimoto, Duy-Nguyen Ta Huynh, Eric A. Cousineau, Russell L. Tedrake
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Publication number: 20200254624Abstract: Systems and methods for detecting pose and force against an object are provided. A method includes receiving a signal from a deformable sensor comprising data from a deformation region in a deformable membrane resulting from contact with the object utilizing an internal sensor disposed within an enclosure and having a field of view directed through a medium and toward a bottom surface of the deformable membrane. The method also determines a pose of the object based on the deformation region of the deformable membrane. The method also determines an amount of force applied between the deformable membrane and the object is determined based on the deformation region of the deformable membrane.Type: ApplicationFiled: May 1, 2020Publication date: August 13, 2020Applicant: Toyota Research Institute, Inc.Inventors: Alexander Alspach, Russell L. Tedrake, Kunimatsu Hashimoto, Erik C. Sobel
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Patent number: 10668627Abstract: Systems and methods for detecting pose and force against an object are provided. A method includes receiving a signal from a deformable sensor comprising data from a deformation region in a deformable membrane resulting from contact with the object utilizing an internal sensor disposed within an enclosure and having a field of view directed through a medium and toward a bottom surface of the deformable membrane. The method also determines a pose of the object based on the deformation region of the deformable membrane. The method also determines an amount of force applied between the deformable membrane and the object is determined based on the deformation region of the deformable membrane.Type: GrantFiled: March 1, 2018Date of Patent: June 2, 2020Assignee: Toyota Research Institute, Inc.Inventors: Alexander Alspach, Russell L. Tedrake, Kunimatsu Hashimoto, Erik C. Sobel
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Patent number: 10549428Abstract: Robots having varying touch sensitivity are provided. A robot may include a plurality of deformable sensors with differing levels of depth resolution and spatial resolution for detecting a pose and force associated with an object. Each deformable sensor may have an enclosure comprising a deformable membrane, the enclosure configured to be filled with a medium. Each deformable sensor may further include an optical sensor, disposed within the enclosure, having a field of view configured to be directed toward a bottom surface of the deformable membrane. The robot may also include a first portion and a second portion, each comprising at least one deformable sensor of the plurality of deformable sensors.Type: GrantFiled: March 6, 2018Date of Patent: February 4, 2020Assignee: Toyota Research Institute, Inc.Inventors: Alexander Alspach, Russell L. Tedrake, Kunimatsu Hashimoto, Erik C. Sobel
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Publication number: 20190091872Abstract: Robots having varying touch sensitivity are provided. A robot may include a plurality of deformable sensors with differing levels of depth resolution and spatial resolution for detecting a pose and force associated with an object. Each deformable sensor may have an enclosure comprising a deformable membrane, the enclosure configured to be filled with a medium. Each deformable sensor may further include an optical sensor, disposed within the enclosure, having a field of view configured to be directed toward a bottom surface of the deformable membrane. The robot may also include a first portion and a second portion, each comprising at least one deformable sensor of the plurality of deformable sensors.Type: ApplicationFiled: March 6, 2018Publication date: March 28, 2019Inventors: Alexander Alspach, Russell L. Tedrake, Kunimatsu Hashimoto, Erik C. Sobel
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Publication number: 20190091871Abstract: Systems and methods for detecting pose and force against an object are provided. A method includes receiving a signal from a deformable sensor comprising data from a deformation region in a deformable membrane resulting from contact with the object utilizing an internal sensor disposed within an enclosure and having a field of view directed through a medium and toward a bottom surface of the deformable membrane. The method also determines a pose of the object based on the deformation region of the deformable membrane. The method also determines an amount of force applied between the deformable membrane and the object is determined based on the deformation region of the deformable membrane.Type: ApplicationFiled: March 1, 2018Publication date: March 28, 2019Inventors: Alexander Alspach, Russell L. Tedrake, Kunimatsu Hashimoto, Erik C. Sobel