Sensorized robotic gripping device
AssigneeGoogle Inc.
InventorsJeffrey Bingham, Taylor Alexander, Bianca Homberg, Joseph DelPreto, Alex Shafer
Life of this patent
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Abstract
A robotic gripping device is provided. The robotic gripping device includes a palm and a plurality of digits coupled to the palm. The robotic gripping device also includes a time-of-flight sensor arranged on the palm such that the time-of-flight sensor is configured to generate time-of-flight distance data in a direction between the plurality of digits. The robotic gripping device additionally includes an infrared camera, including an infrared illumination source, where the infrared camera is arranged on the palm such that the infrared camera is configured to generate grayscale image data in the direction between the plurality of digits.
Claims20
A method comprising:
- controlling one or more digits of a robotic gripping device to attempt to grasp an object;
- receiving, from a first non-contact sensor positioned outside of the one or more digits of the robotic gripping device, first sensor data based on a first sensing modality, wherein the first sensor data is collected after the attempt to grasp the object;
- receiving, from a second non-contact sensor positioned outside of the one or more digits of the robotic gripping device, second sensor data based on a second sensing modality different from the first sensing modality, wherein the second sensor data is collected after the attempt to grasp the object;
- and
- determining, using a trained machine learning model that takes as input the first sensor data and the second sensor data and outputs a decision of whether the robotic gripping device is currently holding the object after the attempt to grasp the object, whether the robotic gripping device is currently holding the object after the attempt to grasp the object.
A robot comprising:
- a robotic gripping device comprising one or more digits;
- a first non-contact sensor positioned outside of the one or more digits of the robotic gripping device;
- a second non-contact sensor positioned outside of the one or more digits of the robotic gripping device;
- and
- a control system configured to:
- control the robotic gripping device to attempt to grasp an object;
- receive, from a first non-contact sensor, first sensor data based on a first sensing modality, wherein the first sensor data is collected after the attempt to grasp the object;
- receive, from a second non-contact sensor, second sensor data based on a second sensing modality different from the first sensing modality, wherein the second sensor data is collected after the attempt to grasp the object;
- and
- determine, using a trained machine learning model that takes as input the first sensor data and the second sensor data and outputs a decision of whether the robotic gripping device is currently holding the object after the attempt to grasp the object, whether the robotic gripping device is currently holding the object after the attempt to grasp the object.
A method comprising:
- controlling one or more digits of a robotic gripping device to attempt to grasp an object;
- receiving, from a first non-contact sensor positioned outside of the one or more digits of the robotic gripping device, first sensor data based on a first sensing modality, wherein the first sensor data is collected after the attempt to grasp the object;
- receiving, from a second non-contact sensor positioned outside of the one or more digits of the robotic gripping device, second sensor data based on a second sensing modality different from the first sensing modality, wherein the second sensor data is collected after the attempt to grasp the object;
- and
- training, based on the first sensor data, the second sensor data, and a result of the attempt to grasp the object, a machine learning model configured to take input of the first sensing modality and the second sensing modality and output a decision of whether the robotic gripping device is currently holding a given object after the attempt to grasp the given object.
Dependencies are inferred from the claim text.