A robotic system for picking and placing objects from and into a constrained space

A method for robotic object manipulation within a constrained object environment, comprising:

• receiving imaging data for a constrained object scene;
• generating an environmental representation of the constrained object scene based on the imaging data, comprising:
• identifying a plurality of objects within the constrained object scene;
• for each object of the plurality, determining a respective object state estimate and a respective object model;
• and
• determining an environmental constraint model;
• based on the environmental representation, determining a set of trajectories for a robot to grasp an object of the plurality based on an environmental collision evaluation and a set of heuristics, wherein the robot comprises a first five degree-of-freedom (DOF) kinematic chain mounting a first right-conical-frustum-shaped tool having a first frictional grasp surface;
• and
• moving the object with the first right-conical-frustum-shaped tool while using an impedance control scheme to maintain a force relationship between the object and the first frictional grasp surface.

A robot for object manipulation, comprising:

• a first robotic assembly, comprising:
• a first tool comprising a grip surface which defines a right conical frustum about a central axis of the first tool;
• a force-torque sensor coupled to the first tool;
• and
• at least four actuation stages arranged in series and cooperatively connecting the first tool to a base;
• and
• a set of imaging sensors configured to generate imaging data for an object scene;
• a controller communicatively coupled to first robotic assembly and the set of imaging sensors;
• wherein the controller is configured to:
• generate an environmental representation of a constrained object scene, the environmental representation comprising a model of environmental constraints which is determined based on the imaging data;
• and
• generate instructions for the first robotic assembly to grip objects between the grip surface and an opposing surface based on measurements from the force-torque sensor, wherein the instructions for the first robotic assembly are generated based on an environmental collision evaluation associated with the environmental representation.