Systems, methods, and control modules for controlling grasping by robot systems
AssigneeSanctuary Cognitive Systems Corporation
InventorsSuzanne Gildert, Geordie Rose, Mani Ranjbar
Life of this patent
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Abstract
Systems, methods, and control modules for operating robot systems are described. A touch heatmap is generated for an object, indicating at least one touch region for the object. Touch regions indicate regions of an object which are most suitable or most prone to touching when the object is grasped. At least one end effector is controlled in accordance with at least one grasp primitive, to grasp the object in accordance with at least one touch region specified in the touch heatmap.
Claims20
A method for operating a robot system including a robot body, at least one sensor, and a robot controller including at least one processor and at least one non-transitory processor-readable storage medium storing a library of object models and a library of associated touch heatmaps, the method comprising:
- capturing, by the at least one sensor, sensor data including a representation of an object;
- accessing, by the robot controller in the library of object models, an object model representation of the object based on the sensor data;
- accessing, by the robot controller in the library of touch heatmaps, a touch heatmap associated with the object model, the touch heatmap indictive of at least one touch region of the object model;
- and
- controlling, by the robot controller, the at least one end effector to grasp the object based on the at least one touch region of the object model.
A method for generating a touch heatmap for an object, the method comprising:
- capturing, by at least one image sensor, image data representing the object as touched by at least one end effector;
- accessing, by at least one processor, an object model representative of the object based on the image data;
- determining, by the at least one processor, a pose of the object based on the image data;
- determining, by the at least one processor, a pose of the at least one end effector based on the image data;
- and
- determining, by the at least one processor, at least one touch region where the object is touched by the at least one end effector based on the pose of the object and the pose of the at least one end effector;
- and
- generate, by the at least one processor, the touch heatmap as data associated with the object model indicative of the at least one touch region.
Dependencies are inferred from the claim text.