Robotic gripper with seal detection

A mobile robotic device, comprising:

• a robotic gripper comprising a plurality of vacuum assemblies and at least one pressure sensor associated with each vacuum assembly of the plurality of vacuum assemblies;
• and
• at least one computer processor programmed to:
• activate each of the plurality of vacuum assemblies by supplying a vacuum to each vacuum assembly;
• determine, for each of the activated vacuum assemblies, a first respective seal quality of the vacuum assembly with a deformable surface of a first grasped object;
• deactivate one or more of the activated vacuum assemblies based, at least in part, on the first respective seal qualities;
• observe a dwell time for the activated vacuum assemblies to deform the deformable surface of the first grasped object;
• and
• after observing the dwell time, reactivate one or more of the deactivated vacuum assemblies to attempt to seal with the deformed surface of the first grasped object.

A method of grasping an object, the method comprising:

• activating a plurality of vacuum assemblies of a robotic gripper;
• sealing at least one of the activated vacuum assemblies with a deformable surface of the object;
• deactivating one or more of the activated vacuum assemblies;
• observing a dwell time for the activated vacuum assemblies to deform the deformable surface of the object;
• after observing the dwell time, reactivating one or more of the deactivated vacuum assemblies to attempt to seal with the deformed surface of the object;
• and
• sealing at least one of the reactivated vacuum assemblies with the deformed surface of the object.