公开(公告)号：US20210389872A1

公开(公告)日：2021-12-16

申请号：US17139642

申请日：2020-12-31

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Francois Hogan ,  Michael Jenkin ,  Gregory Lewis Dudek ,  Yogesh Girdhar ,  Sahand Rezaei-Shoshtari ,  David Meger

IPC: G06F3/0488 ,  G06F3/041 ,  G06N20/20

Abstract: A method of sensing an interaction with an object using a semitransparent tactile surface (STS) sensor having an image sensor and a semitransparent membrane includes capturing, by the image sensor, a stream of images; separating the stream of images into a visual stream including light traveling through the semitransparent membrane and a tactile stream including light reflecting off of the semitransparent membrane; and processing the visual stream and tactile stream through a multimodal deep neural network.

公开(公告)号：US20240310162A1

公开(公告)日：2024-09-19

申请号：US18378447

申请日：2023-10-10

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Kaleem Siddiqi ,  Affan Jilani ,  Charlotte Morissette ,  Francois Hogan ,  Michael Jenkin ,  Gregory Lewis Dudek

IPC: G01B11/24 ,  G01B5/20 ,  G06T7/50

CPC classification number: G01B11/24 ,  G01B5/20 ,  G06T7/50

Abstract: A method performed by an optical tactile sensor comprising a camera, includes: measuring a plurality of relations between the optical tactile sensor and an object; detecting a contact of a membrane on the object; detecting a plurality of markers on the membrane; performing a plurality of first operations by using a tactile perception module; and performing a second operation by using a three-dimensional (3D) perception module, based on a result of the performing of the plurality of first operations.

公开(公告)号：US11656759B2

公开(公告)日：2023-05-23

申请号：US17139642

申请日：2020-12-31

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Francois Hogan ,  Michael Jenkin ,  Gregory Lewis Dudek ,  Yogesh Girdhar ,  Sahand Rezaei-Shoshtari ,  David Meger

IPC: G06F3/04883 ,  G06N20/20 ,  G06F3/041

CPC classification number: G06F3/04883 ,  G06F3/04164 ,  G06N20/20

Abstract: A method of sensing an interaction with an object using a semitransparent tactile surface (STS) sensor having an image sensor and a semitransparent membrane includes capturing, by the image sensor, a stream of images; separating the stream of images into a visual stream including light traveling through the semitransparent membrane and a tactile stream including light reflecting off of the semitransparent membrane; and processing the visual stream and tactile stream through a multimodal deep neural network.

公开(公告)号：US20240308082A1

公开(公告)日：2024-09-19

申请号：US18506672

申请日：2023-11-10

Applicant: SAMSUNG ELECTRONICS CO.,LTD.

Inventor： Abhisek KONAR ,  Oliver Limoyo ,  Francois Hogan ,  Gregory Lewis Dudek ,  Trevor Ablett

IPC: B25J9/16

CPC classification number: B25J9/1697 ,  B25J9/1664

Abstract: A method for controlling a robot including a manipulator is provided. The method may include: acquiring an image of a scene including a target object; inputting the image into a control policy model to obtain an object placement pose of the manipulator, as an output of the control policy model, wherein the control policy model is generated using data collected by a data collection system that is configured to acquire an object retrieval trajectory by observing a robot movement for object retrieval, and reverse the object retrieval trajectory into an object placement trajectory; and commanding the robot to position the manipulator according to the object placement pose, to place the target object at a designated location.