Optimization-based spring lattice deformation model for soft materials

A system, comprising:

• a robotic picking arm having a suction device adapted for retrieving items and reporting the items to a determined location;
• one or more computer processors;
• and
• control logic for the robotic picking arm that, when executed by operation of the one or more computer processors, performs an operation, comprising:
• determining a first candidate contact point for holding a first item using the suction device of the robotic picking arm, based on a surface geometry of the first item;
• estimating a seal quality metric for the first candidate contact point, based on a predicted deformed n-dimensional shape of the suction device and a n-dimensional shape associated with the first item;
• and
• upon determining that the estimated seal quality metric for the first candidate contact point satisfies one or more predefined criteria, controlling movement of the robotic picking arm to retrieve the first item by holding the first item at the first candidate contact point.

A non-transitory computer-readable medium containing computer program code that, when executed by operation of one or more computer processors, performs an operation comprising:

• determining a plurality of candidate contact points for holding a first item using a suction device of a robotic picking arm, based on an estimated surface geometry of the first item;
• calculating, for each of the plurality of candidate contact points, a respective seal quality metric, based on a predicted deformed n-dimensional shape of the suction device and a n-dimensional shape associated with the candidate contact point on the first item;
• selecting one of the plurality of candidate contact points, based on the calculated seal quality metrics;
• and
• controlling movement of the robotic picking arm to retrieve the first item by holding the first item at the selected candidate contact point.