Assessing robotic grasping
AssigneeRightHand Robotics, Inc.
InventorsLael Odhner, Leif Jentoft, Yaroslav Tenzer, Mark Keck, Robert Howe
Life of this patent
Estimating the term…
Abstract
Methods and systems for assessing a robotic grasping technique. The system in accordance with various embodiments may include a warehouse management system for retrieving and storing items, a robotic manipulator for grasping an item, and analysis module configured to receive data regarding a first grasp attempt by the robotic manipulator and analyze the received data to determine whether the robotic manipulator successfully grasped the item.
Claims25
A method of assessing a robotic grasping technique, the method comprising:
- issuing a command to a warehouse management system to retrieve an item for grasping by a robotic manipulator;
- issuing a first instruction to the robotic manipulator that when executed causes the robotic manipulator to perform non-prehensile probing of the item to gather data regarding the item to make a grasping attempt at least more likely to succeed, wherein the gathered data includes an additional view of the item, item stiffness, or item material, or is to confirm item calibration;
- issuing at least one second instruction to the robotic manipulator that when executed causes the robotic manipulator to attempt to grasp the retrieved item, wherein the second instruction is based on the data regarding the item gathered from the non-prehensile probing;
- receiving data regarding the grasp attempt from at least one sensor device;
- and
- analyzing, using an analysis module executing instructions stored on a memory, the received data to determine whether the robotic manipulator successfully grasped the item.
A system for assessing a robotic grasping technique, the system comprising:
- a robotic manipulator for grasping an item;
- a warehouse management system for retrieving and storing items;
- and
- an analysis module executing instructions stored on a memory to:
- issue a first instruction to the robotic manipulator that when executed causes the robotic manipulator to perform non-prehensile probing of the item to gather data regarding the item to make a grasping attempt at least more likely to succeed, wherein the gathered data includes an additional view of the item, item stiffness, or item material, or is to confirm item calibration;
- receive data from at least one sensor device regarding a first grasp attempt by the robotic manipulator,
- analyze the received data to determine whether the robotic manipulator successfully grasped the item;
- and
- issue at least one second instruction to the robotic manipulator that when executed causes the robotic manipulator to attempt to grasp the retrieved item, wherein the second instruction is based on the data regarding the item gathered from the non-prehensile probing.
A method of assessing a robotic grasping technique, the method comprising:
- issuing a command to a warehouse management system to retrieve an item for grasping by a robotic manipulator;
- issuing at least one instruction to the robotic manipulator that when executed causes the robotic manipulator to attempt to grasp the retrieved item;
- receiving data regarding the grasp attempt from at least one sensor device;
- analyzing, using an analysis module executing instructions stored on a memory, the received data to determine whether the robotic manipulator successfully grasped the item;
- issuing at least a second instruction to the robotic manipulator using the analysis module, wherein the second instruction incorporates a corrective action regarding how a second grasp attempt is performed that is based at least in part on the received sensor data.
Dependencies are inferred from the claim text.