Robotic multi-gripper assemblies and methods for gripping and holding objects
AssigneeMUJIN, Inc.
InventorsRosen Nikolaev Diankov, Hironori Mizoguchi
Life of this patent
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Abstract
A system and method for operating a transport robot to simultaneously grasp and transfer multiple objects is disclosed. The transport robot includes a multi-gripper assembly having an array of addressable vacuum regions each configured to independently provide a vacuum. The robotic system receives image data representative of a group of objects. Individual target objects are identified in the group based on the received image data. Addressable vacuum regions are selected based on the identified target objects. The transport robot is command to cause the selected addressable vacuum regions to simultaneously grasp and transfer multiple target objects.
Claims20
A method for operating a transport robot, the method comprising:
- receiving image data depicting packages at a start location, wherein the image data is for analyzing simultaneous grasp of two or more of the packages;
- identifying a set of grip poses for grasping a target package, wherein the set of grip poses represent one or more poses of a multi-gripper assembly of the transport robot that overlap a second package in addition to the target package;
- deriving a combined movement control parameter for each represented pose in the set of grip poses, wherein the combined movement control parameter represents a setting for the transport robot for simultaneously manipulating the target package and the second package;
- determining a release sequence for placing the target package and the second package at respective target locations;
- selecting a simultaneous grasp pose from the set of grip poses based on the combined movement control parameter and the release sequence;
- and
- implementing a motion plan based on the simultaneous grasp pose for operating the transport robot to simultaneously grasp and transfer the target package and the second package.
A system configured to control operation of a transport robot, the system comprising:
- a communication circuit configured to communicate data, commands, and/or settings with a set of sensors and the transport robot, wherein the communication circuit is configured to:
- receive image data depicting packages, including a target package and a second package, at a start location, and
- send a motion plan or a set of corresponding commands and/or settings for operating the transport robot to simultaneously grasp and transfer the target package and the second package;
- at least one processor coupled to the communication circuit and configured to:
- identify a set of grip poses for grasping the target package, wherein the set of grip poses represent one or more poses of a multi-gripper assembly of the transport robot that overlap the second package;
- derive a combined movement control parameter for each represented pose in the set of grip poses, wherein the combined movement control parameter represents a setting for the transport robot for simultaneously manipulating the target package and the second package;
- determine a release sequence for placing the target package and the second package at respective target locations;
- select a simultaneous grasp pose from the set of grip poses based on the combined movement control parameter and the release sequence;
- and
- derive the motion plan based on the simultaneous grasp pose.
A tangible, non-transitory computer-readable medium having processor instructions stored thereon that, when executed by one or more processors, cause the one or more processors to perform a method, the method comprising:
- receiving image data depicting packages at a start location, wherein the image data is for analyzing simultaneous grasp of two or more of the packages;
- identifying a set of grip poses for grasping a target package, wherein the set of grip poses represent one or more poses of a multi-gripper assembly of a transport robot that overlap a second package in addition to the target package;
- deriving a combined movement control parameter for each represented pose in the set of grip poses, wherein the combined movement control parameter represents a setting for the transport robot for simultaneously manipulating the target package and the second package;
- determining a release sequence for placing the target package and the second package at respective target locations;
- selecting a simultaneous grasp pose from the set of grip poses based on the combined movement control parameter and the release sequence;
- and
- implementing a motion plan based on the simultaneous grasp pose for operating the transport robot to simultaneously grasp and transfer the target package and the second package.
Dependencies are inferred from the claim text.