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
Estimating the term…
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.
Claims15
A robot control module comprising at least one non-transitory processor-readable storage medium storing a library of object models, a library of touch heatmaps associated with the library of object models, and processor-executable instructions or data that, when executed by at least one processor of a processor-based system, cause the processor-based system to:
- capture, by at least one sensor carried by a robot body of the processor-based system, sensor data including a representation of an object;
- access, in the library of object models, an object model representation of the object based on the sensor data;
- access, 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
- control, by the at least one processor, the at least one end effector to grasp the object based on the at least one touch region of the object model.
Dependencies are inferred from the claim text.