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US 2023/0105746 A1Published application
Systems and methods for robotic control under contact
AssigneeDextrous Robotics, Inc.
InventorsEvan DRUMWRIGHT, Sam ZAPOLSKY
Life of this patent
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Abstract
In variants, a method for robot control can include: receiving sensor data of a scene, modeling the physical objects within the scene, determining a set of potential grasp configurations for grasping a physical object within the scene, determining a reach behavior based on the potential grasp configuration, determining a trajectory for the reach behavior, and grasping the object using the trajectory.
Claims20
A method comprising:
- receiving a set of sensor data;
- with the sensor data, determining a set of physical objects in an environment;
- determining a virtual model of a physical object of the set, wherein the virtual model comprises immutable properties of physical object;
- determining a state estimate for the physical object;
- based on the state estimate and virtual model, determining a set of potential grasp configurations for grasping the physical object;
- based on the set of potential grasp configurations, determining a reach behavior associated with a collision-free path towards the physical object relative to a remainder of the set of physical objects in the environment;
- and
- determining a trajectory for a robot based on the reach behavior.
5 more elements
A method comprising:
- receiving a set of sensor data;
- with the sensor data, identifying a physical object within a surrounding environment;
- determining a virtual model and a state estimate for the physical object, the virtual model comprising an object mass and an object geometry;
- based on the state estimate and virtual model, determining a set of potential grasp configurations for grasping the physical object;
- and
- determining a pre-grasp trajectory for a robot to achieve at least one potential grasp configuration of the set, wherein determining the pre-grasp trajectory comprises enforcing a non-collision constraint between the robot and the surrounding environment.
3 more elements
Dependencies are inferred from the claim text.