Multi-Tentacular Soft Robotic Grippers

A gripper system having tentacles, comprising:

• a centralized control system connected to a transceiver, configured to execute instructions stored in a memory having databases, to perform operations, including
• receive operator data and sensor data from the transceiver;
• compare stored object configurations associated with grips and pickup actions to identify a corresponding stored set of object configurations using a target object (TO) shape and a pose from the sensor data, and select a corresponding object configuration;
• compare stored commands to identify corresponding stored sets of commands corresponding to the object configuration, and select corresponding sets of commands;
• if a set of pickup actions are received in the operator data, compare the stored sets of pickup actions corresponding to the object configuration to identify a set of pickup actions using the received set of pickup actions, and select a corresponding set of pickup actions;
• compare the sets of commands to identify a corresponding first set of commands that correspond to a stored set of pickup actions using the set of pickup actions, and select the first set of commands;
• if the set of pickup actions are absent from the operator data, then identify if at least one object characteristic is received in the operator data, compare the stored object characteristics corresponding to the object configuration to identify at least one stored object characteristic using the at least one object characteristic from the operator data, and select a corresponding at least one object characteristic;
• compare the sets of commands to identify a corresponding second set of commands that correspond to at least one stored object characteristic using the at least one stored object characteristic, and select the second set of commands;
• if the received at least one object characteristic is absent from the operator data, then select a third set of commands without the set of pickup actions and the at least one object characteristic;
• and
• generate a sequence of control signals that cause motors for each tentacle of the tentacles to apply a sequence of tensions to transmission systems to each tentacle, to move the TO, according to the selected set of commands.

A method for a gripper system having tentacles, comprising:

• receiving operator data and real-time sensor data;
• comparing stored object configurations associated with grips in an object database to identify a corresponding stored set of object configurations associated with sets of grips using a target object (TO) shape and a pose via the sensor data, and select a corresponding object configuration associated with a set of grips;
• comparing stored commands in a command database to identify corresponding stored sets of commands corresponding to the object configuration with the associated set of grips, and select corresponding sets of commands;
• comparing the stored sets of pickup actions in the object database corresponding to the object configuration to identify a set of pickup actions using the received set of pickup actions, and select a corresponding set of pickup actions, only if, a set of pickup actions are received in the operator data;
• comparing the sets of commands to identify a corresponding first set of commands that correspond to the set of pickup actions in the command database, and select the first set of commands;
• selecting a second set of commands without the set of pickup actions from the command database, only if, the received set of pickup actions are absent from the operator data;
• and
• generating a sequence of control signals that cause motors for each tentacle of the tentacles to apply a sequence of tensions to transmission systems to each tentacle, to move the TO, according to the selected set of commands.

A robot system, comprising:

• an input circuit operable to receive input signals from sensors;
• a transceiver to receive operator data including a set of pickup actions;
• a storage system having databases, and is operable to provide a robot system operational profile and an object configuration profile that includes an object shape and a pose of the object;
• a centralized control system connected to the transceiver and sensors is configured to execute instructions stored in the storage system, to perform operations, including
• detect an object configuration profile from an object configuration profile database using a TO configuration profile obtained from the received input signals, wherein each object configuration profile is associated with a set of grips, and select an object configuration profile;
• access a command database having commands, and compare stored commands to identify corresponding stored sets of commands corresponding to the object configuration profile with the associated set of grips, and select corresponding sets of commands;
• if a set of pickup actions are received in the operator data, compare the stored sets of pickup actions corresponding to the object configuration profile to identify a stored set of pickup actions using the received set of pickup actions, and select a corresponding set of pickup actions;
• compare the sets of commands to identify a corresponding first set of commands using the set of pickup actions, and select a corresponding first set of commands;
• if the received set of pickup actions are absent from the operator data, then select a second set of commands without the set of pickup actions,
• wherein the selected set of commands includes a sequence of predetermined torques to be applied to one or more joints or flexural joints along with corresponding tensions to apply to a plurality of transmission systems of each tentacle of the tentacles, such that each transmission system has a first end connected to a motor and a second end connected to a joint or a flexural joint;
• and
• generate a sequence of control signals that cause the motors for each tentacle of the tentacles to apply the sequence of tensions to the transmission systems to each tentacle, to move the TO.