Architecture and methods for robotic mobile manipluation system
AssigneeGeneral Electric Company
InventorsHuan Tan, Weston Blaine Griffin, Lynn Ann DeRose, Yi Xu, Ying Mao, Balajee Kannan
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Abstract
The present approach relates to integrated planning of robot navigation and manipulator motion in performing tasks. In particular, as discussed herein sensor information, such as visual information, may be used for the robot to locate a target object when it arrives at a working location. Adjustments may be made based on this information that may include moving the robot and planning a manipulator arm motion.
Claims20
A processor-implemented method for manipulating one or more objects, the method comprising the acts of:
- at a task location, acquiring images while moving a manipulator of a robot relative to the task location;
- detecting feature points, by which the manipulator may interact with an object, within the images;
- based upon the position and orientation of detected feature points, determining whether to move the robot prior to manipulating the object;
- upon determining to move the robot prior to manipulating the object, generating robot base motion trajectories and manipulator motion trajectories;
- moving the robot in accordance with the robot base motion trajectories to reposition the robot;
- and
- moving the manipulator in accordance with the manipulator motion trajectories to manipulate the object.
A robotic manipulation system, comprising:
- a mobile robot comprising:
- one or more sensors configured to generate sensor data of at least a portion of the environment in which the robot is located;
- and
- a driving system configured to move a base of the robot;
- a manipulator attached to or formed integrally with the robot, the manipulator comprising;
- an effector positioned on the manipulator and configured to interact with objects;
- a camera configured to generate images of an area accessible by the manipulator;
- and
- a driving system configured to move the manipulator;
- one or more processing components configured to:
- cause acquisition of images by the camera while moving the manipulator relative to the task location;
- detect feature points within the images with which the manipulator may interact with a respective object;
- based upon the position and orientation of detected feature points, determine whether to move the robot prior to manipulating the respective object;
- upon determining to move the robot prior to manipulating the respective object, generating robot base motion trajectories and manipulator motion trajectories;
- moving the robot in accordance with the robot base motion trajectories to reposition the robot;
- and
- moving the manipulator in accordance with the manipulator motion trajectories to manipulate the respective object.
One or more non-transitory computer-readable media encoding processor-executable routines, wherein the routines, when executed by a processor, cause acts to be performed comprising:
- at a task location, acquiring images while moving a manipulator of a robot relative to the task location;
- detecting feature points within the images with which the manipulator may interact with an object;
- based upon the position and orientation of detected feature points, determining whether to move the robot prior to manipulating the object;
- upon determining to move the robot prior to manipulating the object, generating robot base motion trajectories and manipulator motion trajectories;
- moving the robot in accordance with the robot base motion trajectories to reposition the robot;
- and
- moving the manipulator in accordance with the manipulator motion trajectories to manipulate the object.
Dependencies are inferred from the claim text.