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US 10,836,034 B2Granted
Systems, devices, articles, and methods for prehension of items
AssigneeKindred Systems Inc.
InventorsPetr Lipay, Richard Chad Cogar
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Abstract
A system and method of determining a grasp type of an end-effector of a robot when interacting with an item wherein a plurality of velocity values of the end-effector at various positions of its movement are collected and used to determine the grasp type when a given velocity value is below a predetermined threshold.
Claims20
A system comprising:
- a robot including an end-effector;
- at least one sensor;
- at least one processor communicatively coupled to the end-effector and the at least one sensor;
- and
- at least one nontransitory processor-readable storage device communicatively coupled to the at least one processor and which stores processor-executable instructions which, when executed by the at least one processor, cause the at least one processor to:
- cause the end-effector to at least attempt to close on an item;
- receive a plurality of position values for the end-effector from the at least one sensor;
- receive a plurality of velocity values for the end-effector, wherein a respective velocity value included in the plurality of velocity values is associated with a respective position value included in the plurality of position values;
- determine a grasp type in response to a first velocity value included in the plurality of velocity values being below a first threshold value;
- and
- create at least one output signal that includes information that represents the determined grasp type.
8 more elements
A method of operation for a system including at least one processor, at least one sensor in communication with the at least one processor, and a robot including an end-effector in communication with the at least one processor, the method comprising:
- causing, by the at least one processor, the end-effector to at least attempt to close on an item;
- receiving, by the at least one processor, a plurality of position values for the end-effector from the at least one sensor;
- receiving, by the at least one processor, a plurality of velocity values for the end-effector, wherein a respective velocity value included in the plurality of velocity values is associated with a respective position value included in the plurality of position values;
- determining, by the at least one processor, a grasp type in response to a first velocity value included in the plurality of velocity values being below a first threshold value;
- and
- creating at least one output signal that includes information that represents the grasp type.
3 more elements
Dependencies are inferred from the claim text.