Robot grip detection using non-contact sensors

A robot comprising:

• a robotic gripping device, comprising:
• a palm;
• a plurality of digits coupled to the palm;
• a first non-contact sensor on the palm;
• and
• a second non-contact sensor on the palm;
• and
• a control system configured to:
• control the robotic gripping device to cause the plurality of digits of the robotic gripping device to move towards each other in an attempt to grasp an object;
• receive, from the first non-contact sensor on the palm of the robotic gripping device, first sensor data indicative of a region extending from the palm between the plurality of digits of the robotic gripping device, wherein the first sensor data is indicative of the region after the attempt to grasp the object;
• receive, from the second non-contact sensor on the robotic gripping device, second sensor data indicative of the region extending from the palm between the plurality of digits of the robotic gripping device, wherein the second sensor data is based on a different sensing modality than the first sensor data, wherein the second sensor data is indicative of the region after the attempt to grasp the object;
• and
• determine, using an object-in-hand classifier that takes as input the first sensor data and the second sensor data, whether the robotic gripping device is currently holding the object after the attempt to grasp the object.

A non-transitory computer readable medium having stored therein instructions executable by one or more processors to cause the one or more processors to perform functions comprising:

• controlling a robotic gripping device to cause a plurality of digits of the robotic gripping device to move towards each other in an attempt to grasp an object, wherein the plurality of digits are coupled to a palm of the robotic gripping device;
• receiving, from a first non-contact sensor on the palm of the robotic gripping device, first sensor data indicative of a region extending from the palm between the plurality of digits of the robotic gripping device, wherein the first sensor data is indicative of the region after the attempt to grasp the object;
• receiving, from a second non-contact sensor on palm of the robotic gripping device, second sensor data indicative of the region extending from the palm between the plurality of digits of the robotic gripping device, wherein the second sensor data is based on a different sensing modality than the first sensor data, wherein the second sensor data is indicative of the region after the attempt to grasp the object;
• and
• determining, using an object-in-hand classifier that takes as input the first sensor data and the second sensor data, whether the robotic gripping device is currently holding the object after the attempt to grasp the object.