US 10,131,051 B1Granted

Anticipation-based robotic object grasping

AssigneeAmazon Technologies, Inc.

InventorsDushyant Goyal, Pragyana K. Mishra

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Abstract

A grasp management system is described. The grasp management system may be configured to determine a grasp strategy for a robotic manipulator. Information about an initial state of an object may be accessed. Information about a final state of the object may also be accessed. The final state may enable a subsequent interaction with the object. An anticipated pose space may be determined that enables the subsequent interaction with the object. An initial pose for the robotic manipulator may be determined based at least in part on the anticipated pose space. The initial pose may be used by the robotic manipulator to grasp the object.

Claims20

Dependent claims

A computer-implemented method, comprising:

accessing information about an object in an initial position and an initial orientation;
accessing information about a subsequent interaction with the object, the subsequent interaction expected to be performed with respect to the object after a robotic manipulator has moved the object from the initial position and the initial orientation;
prior to an end effector of the robotic manipulator moving the object from the initial position and the initial orientation, determining an anticipated final position and an anticipated final orientation of the object based at least in part on the information about the subsequent interaction, the anticipated final position and the anticipated final orientation of the object enabling performance of the subsequent interaction with the object and comprising at least one of a translation or a rotation of the object relative to the initial position and the initial orientation;
selecting the end effector of the robotic manipulator based at least in part on the information about the object and the anticipated final position and the anticipated final orientation, the selected end effector comprising a grasping function capable of grasping the object while the robotic manipulator transports the object from the initial position and the initial orientation to the anticipated final position and the anticipated final orientation;
determining, based at least in part on the anticipated final position and the anticipated final orientation, a set of anticipated final poses for the robotic manipulator, each of the anticipated final poses comprising a position and an orientation of the robotic manipulator when the object is in the anticipated final position and the anticipated final orientation, and enabling the subsequent interaction with the object;
determining, based at least in part on the set of anticipated final poses, an initial pose for the robotic manipulator to grasp the object in the initial position and the initial orientation using the selected end effector, the initial pose comprising an initial pose position and an initial pose orientation of the robotic manipulator when the object is in the initial position and the initial orientation;
determining, based at least in part on the set of anticipated final poses and the initial pose, a movement path comprising a set of intermediate poses through which the robotic manipulator will move to transport the object from the initial position and the initial orientation to the anticipated final position and the anticipated final orientation;
and
instructing the robotic manipulator to grasp the object using the initial pose and to transport the object to the anticipated final position and the anticipated final orientation in accordance with the movement path.

6 more elements

A computer-implemented method, comprising:

accessing information about an object in an initial position and an initial orientation;
accessing information about a subsequent interaction with the object, the subsequent interaction expected to be performed with respect to the object after a robotic manipulator has moved the object from the initial position and the initial orientation;
prior to the robotic manipulator moving the object from the initial position and the initial orientation, determining a final position and a final orientation of the object based at least in part on the information about the subsequent interaction, the final position and the final orientation of the object enabling performance of the subsequent interaction with the object and comprising at least one of a translation or a rotation of the object by a robotic manipulator relative to the initial position and the initial orientation;
determining, based at least in part on a final pose space, an anticipated pose space that enables the subsequent interaction with the object when the object is in the final position and the final orientation, the final pose space comprising a set of possible poses of the robotic manipulator when the object is in the final position and the final orientation, the anticipated pose space comprising a subset of the set of possible poses of the robotic manipulator when the object is in the final position and the final orientation;
determining, based at least in part on the anticipated pose space, an initial pose for the robotic manipulator to grasp the object in the initial position and the initial orientation, the initial pose comprising an initial pose position and an initial pose orientation of the robotic manipulator;
and
instructing the robotic manipulator to grasp the object using the initial pose and to transport the object to the final position and the final orientation.

4 more elements

A system, comprising:

a robotic manipulator comprising at least one end effector;
and
a computing device in communication with the robotic manipulator and configured to at least:
access information about an object in an initial position and an initial orientation;
access information about a subsequent interaction with the object, the subsequent interaction expected to be performed with respect to the object after a robotic manipulator has moved the object from the initial position and the initial orientation;
prior to the robotic manipulator moving the object from the initial position and the initial orientation, determine a final position and a final orientation of the object based at least in part on the information about the subsequent interaction, the final position and the final orientation of the object enabling performance of the subsequent interaction with the object and comprising at least one of a translation or a rotation of the object by the robotic manipulator and relative to the initial position and the initial orientation;
determine an anticipated final pose of the robotic manipulator corresponding to the final position and the final orientation of the object;
determine, based at least in part on the anticipated final pose, an initial pose for the robotic manipulator to grasp the object in the initial position and the initial orientation, the initial pose comprising an initial pose position and an initial pose orientation of the robotic manipulator;
and
instruct the robotic manipulator to grasp the object using the initial pose.

7 more elements

Dependencies are inferred from the claim text.

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Abstract

A computer-implemented method, comprising:

accessing information about an object in an initial position and an initial orientation;
accessing information about a subsequent interaction with the object, the subsequent interaction expected to be performed with respect to the object after a robotic manipulator has moved the object from the initial position and the initial orientation;
prior to an end effector of the robotic manipulator moving the object from the initial position and the initial orientation, determining an anticipated final position and an anticipated final orientation of the object based at least in part on the information about the subsequent interaction, the anticipated final position and the anticipated final orientation of the object enabling performance of the subsequent interaction with the object and comprising at least one of a translation or a rotation of the object relative to the initial position and the initial orientation;
selecting the end effector of the robotic manipulator based at least in part on the information about the object and the anticipated final position and the anticipated final orientation, the selected end effector comprising a grasping function capable of grasping the object while the robotic manipulator transports the object from the initial position and the initial orientation to the anticipated final position and the anticipated final orientation;
determining, based at least in part on the anticipated final position and the anticipated final orientation, a set of anticipated final poses for the robotic manipulator, each of the anticipated final poses comprising a position and an orientation of the robotic manipulator when the object is in the anticipated final position and the anticipated final orientation, and enabling the subsequent interaction with the object;
determining, based at least in part on the set of anticipated final poses, an initial pose for the robotic manipulator to grasp the object in the initial position and the initial orientation using the selected end effector, the initial pose comprising an initial pose position and an initial pose orientation of the robotic manipulator when the object is in the initial position and the initial orientation;
determining, based at least in part on the set of anticipated final poses and the initial pose, a movement path comprising a set of intermediate poses through which the robotic manipulator will move to transport the object from the initial position and the initial orientation to the anticipated final position and the anticipated final orientation;
and
instructing the robotic manipulator to grasp the object using the initial pose and to transport the object to the anticipated final position and the anticipated final orientation in accordance with the movement path.

6 more elements