Robotic system with piece-loss management mechanism

A method for operating a transfer robot including a gripper for gripping a target object and a robotic arm for maneuvering the gripper, the method comprising:

• calculating a base motion plan, wherein the base motion plan includes a sequence of actuator commands, actuator settings, or a combination thereof, that is configured to operate the robotic arm and the gripper to transfer the target object from a start location to a task location;
• receiving a contact measure while executing the base motion plan, wherein the contact measure represents an amount of grip of the gripper on the target object measured by a contact sensor after gripping the target object and before initiating horizontal transfer of the target object;
• determining that the contact measure fails to satisfy an initial grip threshold;
• generating regrip commands, regrip settings, or a combination thereof based on the determination, wherein the generated regrip commands, regrip settings, or a combination thereof deviate from the base motion plan to regrip the target object.

A tangible, non-transient computer-readable medium having processor instructions stored thereon that, when executed by a robotic system via one or more processors thereof, cause the robotic system to:

• calculate a base motion plan, wherein the base motion plan includes a first set of actuator commands, actuator settings, or a combination thereof, that is configured to operate a robotic arm and a gripper to transfer a target object from a start location to a task location;
• receive a contact measure while executing the base motion plan, wherein the contact measure represents an amount of grip of the gripper on the target object measured by a contact sensor;
• determine that the contact measure fails to satisfy a threshold;
• track a progress of executing the base motion plan, wherein the progress is associated with a horizontal transfer of the target object;
• and
• selectively generate a second set of actuator commands, actuator settings, or a combination thereof based on the determination and the progress for operating the robotic arm, the gripper, or a combination thereof to deviate from the base motion plan and execute one or more response actions not included in the base motion plan.